CN112809687B - Simulation method, device and equipment of robot controller - Google Patents
Simulation method, device and equipment of robot controller Download PDFInfo
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- CN112809687B CN112809687B CN202110183569.6A CN202110183569A CN112809687B CN 112809687 B CN112809687 B CN 112809687B CN 202110183569 A CN202110183569 A CN 202110183569A CN 112809687 B CN112809687 B CN 112809687B
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Abstract
The invention discloses a simulation method, a simulation device and simulation equipment of a robot controller, which are used for effectively analyzing the influence of simulator parameters on a robot according to a motion trail. The method comprises the following steps: determining a first simulator selected by a user and simulator parameters input by the user, wherein the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated; responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters.
Description
Technical Field
The invention relates to the technical field of robot system simulation, in particular to a simulation method, a simulation device and simulation equipment of a robot controller.
Background
The rehabilitation robot can be used for assisting a patient to carry out scientific and effective rehabilitation training to recover the motion function of the patient. In the design of the rehabilitation robot, a motion control algorithm is of great importance and is the core of the whole robot rehabilitation training. Therefore, the motion control algorithm is tested quickly, the control parameters of the motion control algorithm are selected, the stability of the whole rehabilitation robot system is judged, the performance of the whole rehabilitation robot system is evaluated, a more convenient and faster tool is needed, and the algorithm development and the rapid verification of the whole rehabilitation robot system are facilitated.
However, because the current simulation tool does not have a simulation analysis method for the rehabilitation robot, how to simulate the motion trajectory of the rehabilitation robot under the control parameters through a simulation method is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
The invention provides a simulation method, a simulation device and simulation equipment of a robot controller, which are used for simulating a motion trail of a robot under simulator parameters according to a simulator selected by a user and input simulator parameters, and effectively analyzing the influence of the simulator parameters on the robot according to the motion trail.
In a first aspect, a simulation method for a robot controller provided in an embodiment of the present invention includes:
determining a first simulator selected by a user and simulator parameters input by the user, wherein the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;
responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters.
The simulation method provided by the embodiment of the invention can simulate the motion track of the robot under the simulator parameters according to the simulator selected by the user and the input simulator parameters, respond to a data loading instruction, convert the action parameter set input by the user into track information, and express whether the selected simulator and the input simulator parameters meet the design requirements or not through the track information, so that the user can quickly select the control parameters of the motion control algorithm of the rehabilitation robot.
As an optional implementation manner, after the converting, by the first simulator, the set of force parameters input by the user into trajectory information, the method further includes:
responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.
The embodiment of the invention provides an intuitive and visual display interface for observing the motion state of the robot, and the influence of different controller parameters on a robot system is observed according to the track information corresponding to the different simulator parameters through the input different simulator parameters.
As an optional implementation manner, in response to a user instruction, determining display content corresponding to the user instruction according to the track information includes:
responding to a drawing instruction of a user, and determining a response curve corresponding to the drawing instruction according to the track information, wherein the response curve is used for representing the relation between position information in the track information and a preset variable; and/or the presence of a gas in the gas,
and responding to an index analysis instruction of a user, and determining a performance index value corresponding to the index analysis instruction according to the track information, wherein the performance index value is used for representing an index value determined when the track information meets a preset performance condition.
The embodiment of the invention provides different display contents, and the relation between the position information in the track information and the preset variable can be visually displayed according to the response curve, so that the effective range of the simulator parameter meeting the preset requirement is determined; whether the simulator parameter meets the preset requirement or not can be quantitatively expressed according to the performance index value.
As an optional implementation, the method further comprises:
responding to a stability analysis instruction of a user, and determining the number of variables selected by the user and input non-variable parameters and variable ranges, wherein the stability analysis instruction is used for indicating the stability of the second simulator to be analyzed;
responding to a variable data loading instruction, operating the second simulator according to the variable range and the non-variable parameters, and converting the acting force parameter set input by the user into track information through the second simulator;
and determining the stability of the second simulator in the variable range according to the track information.
The embodiment of the invention also provides stability analysis of the robot controller, and the track information is converted into the stability of the variable in a changing state, so that the stability of the robot system is rapidly tested.
As an optional implementation manner, determining the stability of the preset simulator in the variable range according to the trajectory information includes:
and responding to a stability drawing instruction of a user, generating a stability image according to the relation between the variable and the stability, and displaying the stability image through an image display interface, wherein the stability image is used for representing the stability of the second simulator when the variable is changed in the variable range.
The embodiment of the invention also provides a visual stability analysis method, which intuitively indicates whether the variable and non-variable parameters corresponding to the stability of the robot system meet the preset requirements through the stability image, so that a proper controller and controller parameters are selected for the robot.
As an alternative embodiment, the response curve includes any one or more of:
a Bode plot curve;
a step response curve;
an impulse response curve.
In a second aspect, an embodiment of the present invention provides a simulation apparatus for a robot controller, including:
the simulation system comprises a selection input unit, a simulation analysis unit and a simulation analysis unit, wherein the selection input unit is used for determining a first simulator selected by a user and simulator parameters input by the user, the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;
and the track determining unit is used for responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters.
As an optional embodiment, after converting the set of force parameters input by the user into trajectory information by the first simulator, the determining trajectory unit is further configured to:
responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.
As an optional implementation manner, the track determining unit is further specifically configured to:
responding to a drawing instruction of a user, and determining a response curve corresponding to the drawing instruction according to the track information, wherein the response curve is used for representing the relation between position information in the track information and a preset variable; and/or the presence of a gas in the gas,
and responding to an index analysis instruction of a user, and determining a performance index value corresponding to the index analysis instruction according to the track information, wherein the performance index value is used for representing an index value determined when the track information meets a preset performance condition.
As an optional implementation manner, the apparatus further includes a stability analysis unit specifically configured to:
responding to a stability analysis instruction of a user, and determining the number of variables selected by the user and input non-variable parameters and variable ranges, wherein the stability analysis instruction is used for indicating the stability of the second simulator to be analyzed;
responding to a variable data loading instruction, operating the second simulator according to the variable range and the non-variable parameters, and converting the acting force parameter set input by the user into track information through the second simulator;
and determining the stability of the second simulator in the variable range according to the track information.
As an optional implementation manner, the stability analysis unit is specifically configured to:
and responding to a stability drawing instruction of a user, generating a stability image according to the relation between the variable and the stability, and displaying the stability image through an image display interface, wherein the stability image is used for representing the stability of the second simulator when the variable is changed in the variable range.
As an alternative embodiment, the response curve includes any one or more of:
a Bode plot curve;
a step response curve;
an impulse response curve.
In a third aspect, an embodiment of the present invention further provides a simulation apparatus for a robot controller, where the apparatus includes a processor and a memory, the memory is used for storing a program executable by the processor, and the processor is used for reading the program in the memory and executing the following steps:
determining a first simulator selected by a user and simulator parameters input by the user, wherein the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;
responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters.
As an optional implementation, after the set of force parameters input by the user is converted into trajectory information by the first simulator, the processor is specifically further configured to perform:
responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.
As an optional implementation manner, the processor is specifically further configured to perform:
responding to a drawing instruction of a user, and determining a response curve corresponding to the drawing instruction according to the track information, wherein the response curve is used for representing the relation between position information in the track information and a preset variable; and/or the presence of a gas in the gas,
and responding to an index analysis instruction of a user, and determining a performance index value corresponding to the index analysis instruction according to the track information, wherein the performance index value is used for representing an index value determined when the track information meets a preset performance condition.
As an optional implementation manner, the processor is specifically further configured to perform:
responding to a stability analysis instruction of a user, and determining the number of variables selected by the user and input non-variable parameters and variable ranges, wherein the stability analysis instruction is used for indicating the stability of the second simulator to be analyzed;
responding to a variable data loading instruction, operating the second simulator according to the variable range and the non-variable parameters, and converting the acting force parameter set input by the user into track information through the second simulator;
and determining the stability of the second simulator in the variable range according to the track information.
As an optional implementation manner, the processor is specifically further configured to perform:
and responding to a stability drawing instruction of a user, generating a stability image according to the relation between the variable and the stability, and displaying the stability image through an image display interface, wherein the stability image is used for representing the stability of the second simulator when the variable is changed in the variable range.
As an alternative embodiment, the response curve includes any one or more of:
a Bode plot curve;
a step response curve;
an impulse response curve.
In a fourth aspect, an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored, where the computer program is used to implement the steps of the method in the first aspect when the computer program is executed by a processor.
These and other aspects of the present application will be more readily apparent from the following description of the embodiments.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of a simulation method of a robot controller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a selection input interface according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an interface for determining a selected simulator and inputting simulator parameters according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a display interface responding to a data load instruction according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating a first response curve according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a second response curve according to an embodiment of the present invention;
FIG. 7 is a third response curve provided by an embodiment of the present invention;
FIG. 8 is a schematic diagram of a display interface for displaying performance indicator values according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a display interface for responding to a user stability analysis command according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of input of a stability analysis display interface variable according to an embodiment of the present invention;
FIG. 11 is a diagram illustrating a display interface responding to a variable data load instruction according to an embodiment of the present invention;
FIG. 12 is a schematic view of a first stability graph display interface according to an embodiment of the present invention;
FIG. 13 is a diagram illustrating a second stability graph display interface according to an embodiment of the present invention;
FIG. 14 is a schematic view of a third stability plot display interface provided in accordance with an embodiment of the present invention;
fig. 15 is a flowchart of a specific simulation method of a robot controller according to an embodiment of the present invention;
fig. 16 is a schematic diagram of a simulation apparatus of a robot controller according to an embodiment of the present invention;
fig. 17 is a schematic diagram of a simulation device of a robot controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The term "and/or" in the embodiments of the present invention describes an association relationship of associated objects, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The application scenario described in the embodiment of the present invention is for more clearly illustrating the technical solution of the embodiment of the present invention, and does not form a limitation on the technical solution provided in the embodiment of the present invention, and it can be known by a person skilled in the art that with the occurrence of a new application scenario, the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems. In the description of the present invention, the term "plurality" means two or more unless otherwise specified.
Example 1
The embodiment of the invention provides a simulation method of a robot controller, which can be applied to the field of medical appliances, such as simulation of a controller used by a lower limb rehabilitation robot; the method and the device can also be applied to simulation of controllers used by multi-axis robots, interactive robots and the like, and the embodiment of the invention is not limited to the method and the device.
The motion control algorithm is a core key technology of the whole rehabilitation robot motion, and how to design a proper controller aiming at the rehabilitation robot equipment at a high speed to select an optimal control algorithm and related parameters is a technical problem which needs to be solved urgently at present, and the following problems mainly exist at present:
The main reasons are that in the design process of the control algorithm, part of parameters in system inertia parameters cannot be accurately acquired, and meanwhile, the setting, calculation and analysis of control indexes are lacked, so that the visual operation cannot be performed more intuitively.
Aiming at different control algorithms, the stability of the robot system is a precondition for the operation of all the control algorithms, and the stability of the robot system cannot be effectively analyzed due to the lack of relevant parameters in the stability analysis process of the control algorithms at present.
The quality of the controller cannot be evaluated from multiple angles, and the influence of the parameters of the controller on the performance of the robot system cannot be observed intuitively.
In order to solve the above technical problem, embodiments of the present invention provide a simulation method for a robot controller, which can quickly select appropriate controller parameters. As shown in fig. 1, the process is carried out as follows:
the first simulator in the embodiment of the invention is used for representing the controller of the robot to be simulated, namely the algorithm used by the first simulator is the same as the controller algorithm of the controller, and the first simulator is used for simulating the operation of the controller of the robot to be simulated according to the controller algorithm of the robot to be simulated. The simulation method in the embodiment of the invention is an independent simulation method, can perform simulation test on different controller algorithms used by the robot, and can input simulator parameters corresponding to different first simulators to simulate the motion tracks under different controller parameters.
Optionally, the controller algorithm of the robot controller in the embodiment of the present invention includes but is not limited to: a position control algorithm, a speed control algorithm, a torque control algorithm, a force-position hybrid control algorithm, an impedance control algorithm, and an admittance control algorithm. Different robots can use different controller algorithms, and the same robot can also use different controller algorithms in different scenes, so that the embodiment of the invention is not limited too much.
It should be noted that, in the simulation method according to the embodiment of the present invention, a user may select a first simulator, where the first simulator includes but is not limited to: a simulator using a PID (proportional-integral-derivative) controller algorithm, a simulator using a proportional phase lag controller algorithm, a simulator using an impedance controller algorithm. It will be readily appreciated that embodiments of the present invention may simulate any one or any of a variety of controllers: PID controller, proportional phase lag controller, impedance controller.
In this embodiment, the first simulator selected by the user and the input simulator parameters correspond to each other, that is, after the user selects one type of the first simulator, only the simulator parameter corresponding to the selected first simulator can be input, and the simulator parameters of other simulators cannot be input.
The simulation method includes the steps that the robot is simulated to move in the simulation process, acting force generated between a user and the robot when the user carries out rehabilitation training by using the robot is simulated according to acting force parameters input by the user, and therefore position information of the robot under the first simulator and simulator parameters is determined according to the first simulator of current simulation and the input simulator parameters, and the movement condition of the robot is simulated.
The simulator parameters in the embodiment of the invention comprise attribute parameters for representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated. The attribute parameters are used for representing the characteristics of the robot to be simulated such as material and weight, and the operation parameters are used for representing the controller parameters of the robot controller.
Optionally, the attribute parameters include but are not limited to: system inertia, system damping, system stiffness; the operating parameters include, but are not limited to: controller parameters mass, damping and stiffness corresponding to the impedance controller; proportional gain, zero parameters and pole parameters corresponding to the proportional phase lag controller; and the proportional parameter, the integral parameter and the differential parameter correspond to the PID controller.
Optionally, the acting force parameter set received by the embodiment of the present invention during the simulation process may be an acting force parameter set determined according to the acting force parameter received by the user within the preset time period, or an acting force parameter set directly received by the user.
In implementation, the acting force parameter set input by the user is converted into track information through a transfer function, wherein the transfer function is used for representing the relation between the acting force parameter and the robot position information. It is easily understood that the transfer function is determined based on different controllers, that is, the transfer functions corresponding to different controller algorithms are different, but no matter which transfer function is used for characterizing the relationship between the acting force and the position, the embodiment of the present invention does not excessively limit the transfer function used in the embodiment.
As an optional implementation manner, after the acting force parameter set input by the user is converted into the trajectory information by the first simulator, the embodiment of the present invention may further respond to a user instruction to display, and the specific steps are as follows:
responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.
It should be noted that, the embodiment of the present invention may provide a visual analysis method, where the performance of the robot controller is simulated, and the display content of the display interface is used to represent the relationship between the trajectory information of the robot to be simulated and the performance of the simulator, so that a user may determine a simulator parameter corresponding to appropriate trajectory information through the display content, and quickly select the robot controller parameter, where the appropriate trajectory information includes the trajectory information corresponding to the performance of the simulator, which meets the performance requirement.
As an optional implementation manner, in the embodiment of the present invention, the display content corresponding to the user instruction may be determined in any one or any multiple manners, where a specific determination manner is as follows:
the method comprises the steps of 1, responding to a drawing instruction of a user, and determining a response curve corresponding to the drawing instruction according to the track information;
the response curve is used for representing the relation between position information in the track information and a preset variable; optionally, the response curve includes any one or more of: a Bode plot curve; a step response curve; an impulse response curve.
Optionally, the preset variable in the embodiment of the present invention may be time or frequency, which is not limited in the embodiment of the present invention.
If the preset variable is time, the response curve is a step response curve or a pulse response curve, wherein the step response curve is used for tracking position information obtained by the operation of the simulator in a time domain by sending a step signal, so that the range of the simulator parameter corresponding to the step response curve is determined; similarly, the impulse response curve is used for tracking position information obtained by the operation of the simulator in a time domain by sending an impulse signal, so that the range of the simulator parameter corresponding to the impulse response curve is determined;
and if the preset variable is frequency, the response curve is a bode graph curve, wherein the bode graph curve is used for estimating an amplitude margin and a phase margin, so that whether the simulator parameter corresponding to the bode graph curve meets the preset requirement or not is determined according to the amplitude margin and the phase margin.
and the performance index value is used for representing the index value determined when the track information meets the preset performance condition.
In implementation, the performance index value is used to represent an index value determined when a response curve determined according to a relationship between position information in the trajectory information and a preset variable meets a preset performance condition, and optionally, the index value is an amplitude margin and a phase margin, so as to determine whether a corresponding simulator parameter meets a preset requirement according to the amplitude margin and the phase margin.
the response curve is used for representing the relation between position information in the track information and a preset variable, and the performance index value is used for representing an index value determined when the track information meets a preset performance condition.
In implementation, the response curve may be determined first, which is used to determine the range of the simulator parameter according to the response curve, and then the performance index value may be determined, which is used to determine whether the simulator parameter in the range meets the preset requirement according to the performance index value.
As an optional implementation manner, an embodiment of the present invention further provides a stability analysis method, which is used for performing stability analysis on a specific controller, and the method includes the following specific implementation steps:
it should be noted that the stability analysis may be a simulation analysis for a specific controller, and the first simulator and the second simulator in the embodiment of the present invention may be the same simulator or different simulators, and the embodiment of the present invention is not limited to this.
Alternatively, embodiments of the present invention may perform a stability analysis on the proportional phase lag controller, i.e., the second simulator is a simulator using a proportional phase lag controller algorithm, the variables including, but not limited to, any one or more of:
proportional gain Kdc, zero parameter z, pole parameter p. For example, if the variable is a proportional gain Kdc, the non-variable is a zero parameter z and a pole parameter p; if the variable is a zero parameter z, the non-variable is a proportional gain Kdc and a pole parameter p; and if the variable is the pole parameter p, the non-variable is the proportional gain Kdc and the zero parameter z.
it is easily understood that the determination of the trajectory information is determined during the variation of the variable, from which the stability of the simulator during the variation of the variable can be judged.
And 3, determining the stability of the second simulator in the variable range according to the track information.
It can be understood that the stability of the test in the simulation method of the embodiment of the present invention is based on the relationship between the variable and the stability, and the stability can be determined according to the trajectory information in the process that the variable changes within a certain range.
As an optional implementation manner, in the embodiment of the present invention, the stability of the preset simulator in the variable range is determined according to the trajectory information, and the specific implementation manner is as follows:
and responding to a stability drawing instruction of a user, generating a stability image according to the relation between the variable and the stability, and displaying the stability image through an image display interface, wherein the stability image is used for representing the stability of the second simulator when the variable is changed within the variable range.
Optionally, the stability image in the embodiment of the present invention includes any one or any plurality of the following:
if the number of the variables is one, the stability image is a one-dimensional curve image; or the like, or, alternatively,
if the number of the variables is two, the stable image is a two-dimensional image; or the like, or, alternatively,
and if the number of the variables is three, the stable image is a three-dimensional image.
The embodiment of the invention also provides a selection input interface for determining the first simulator selected by the user and the simulator parameter input by the user, and an operation key which can be used for loading the data by the user is given through the selection input interface so as to respond to the data loading instruction.
As shown in fig. 2, the selection input interface includes six parts, which are respectively as follows:
the first part is the simulator selection part, which contains the MIT controller (proportional phase lag controller), NG1 controller (proportional-integral-derivative controller) and impedance controller (it is understood that the base controller is used in conjunction with either the MIT controller or NG1 controller, which may also be a default option).
The second part is the System parameters, which contains the System Inertia, System Damping, and System Stiffness, stilffness.
The third part is an Impedance Controller, which comprises Controller parameters of Mass Mass, damping Damper and rigidity Stiff.
The fourth part is the MIT controller, which contains a proportional gain Kdc, a zero parameter z and a pole parameter p.
The fifth part is the NG1 controller, which contains a proportional parameter Kp, an integral parameter Ki and a derivative parameter Kd.
The sixth part is an operation part and comprises Data Loading, system Bode Plot drawing Bode Plot, system Step Response and Impulse Response.
The following describes specific implementation steps of a simulation method for a robot controller according to an embodiment of the present invention by using drawings:
as shown in fig. 3, the selected simulator and the input simulator parameters are determined. The simulator selected by the user can be determined by pointing in front of the name of the simulator, such as the MIT Controller and the Imp Controller pointed out in fig. 3, and the simulator parameters corresponding to the MIT Controller are input.
As shown in fig. 4, in response to the Data Loading instruction, that is, the user may click the Data Loading button to send the Data Loading instruction, and after the Data Loading is completed, the Status indicator light changes color (for example, the color changes from red before Loading to green), which indicates that the Data Loading is correct.
In an implementation, a response curve corresponding to a drawing command is determined according to the trajectory information in response to the drawing command of a user, where if the drawing command is a bode curve drawing command, the response curve is as shown in fig. 5, if the drawing command is a step response curve drawing command, the response curve is as shown in fig. 6, and if the drawing command is an impulse response curve drawing command, the response curve is as shown in fig. 7.
In implementation, a performance index value corresponding to the index analysis instruction is determined according to the track information in response to an index analysis instruction of a user, the performance index of the simulator under the simulator parameter is analyzed through the selected simulator and the input simulator parameter, and the quality of a simulator algorithm (namely, a controller algorithm) can be observed more intuitively through the quantized performance index.
As shown in fig. 8, the performance index value is displayed through the display interface, wherein the performance index value includes two parts, a frequency domain performance index and a time domain performance index, and in addition, the Stable performance can be visually judged through a Stable indicator light. The frequency domain performance index includes, but is not limited to: amplitude cut-off frequency, amplitude margin, phase cut-off frequency and phase margin. Time domain performance indicators include, but are not limited to: rise time, adjustment time, overshoot, and peak time.
Optionally, the calculation of the size button is performed through the performance index, and each performance index value is determined in response to an index analysis instruction of a user.
In implementation, as shown in fig. 9, the number of variables selected by the user and the input non-variable parameters are determined in response to the user's stability analysis command. Optionally, the number of the variables may be 1, 2, or 3, the variable range may be set, and a user may observe the influence of the change of the variable on the stability according to the stability image corresponding to the set variable range. And (4) drawing a system stability curve under different states through the change of the variable quantity so as to observe unstable and stable ranges, thereby selecting proper parameters.
It is easy to understand that when there are three variables, it cannot be determined which variable has a larger influence on the system stability, so the present embodiment determines the influence of one or some variables on the system stability by fixing different numbers of variables, and can determine the influence degree of each variable on the system stability more quickly.
It should be noted that both the variable and non-variable parameters in the embodiments of the present invention are greater than zero.
As shown in fig. 10, the number of variables selected is 1 variable, that is, one variable is selected, and the other two variables are fixed parameters. As shown in FIG. 11, in response to a variable data load command, the Status indicator light changes color (e.g., from red to green) after the data load is successful. Responding to a Stability drawing instruction of a user, optionally, the user may perform Stability drawing by clicking a Stability Plot button, as shown in fig. 12, if the variable is a single variable, the Stability image is a one-dimensional image, where a horizontal axis represents the variable, a vertical axis represents Stability, o represents stable, and x represents unstable; as shown in fig. 13, if the number of the variables is 2, the stability image is a two-dimensional image, in which the horizontal axis represents a first variable, the vertical axis represents a second variable, o represents stability, and x represents instability; as shown in fig. 14, if the number of the variables is 3, the stability image is a three-dimensional image, where the X-axis, the Y-axis, and the Z-axis respectively represent three variables, o represents stability, and X represents instability.
As shown in fig. 15, an embodiment of the present invention further provides a specific simulation method for a robot controller, where the specific implementation flow of the method is as follows:
1500, determining a first simulator selected by a user and simulator parameters input by the user;
the first simulator is used for determining the position information of the robot to be simulated according to acting force parameters input by a user in a simulation process, wherein the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;
and the track information is used for representing the motion track of the robot to be simulated under the simulator parameters.
the response curve is used for representing the relation between position information in the track information and a preset variable;
through steps 1500-1502, the user can determine a larger range of the simulator parameters according to the response curve, that is, determine a larger range of the controller parameters;
and the performance index value is used for representing the index value determined when the track information meets the preset performance condition.
Through step 1503, the user can determine simulator parameters meeting the design requirements from the simulator parameters in the range, that is, determine controller parameters meeting the design requirements;
wherein the stability analysis instructions are to instruct analysis of stability of a second simulator;
wherein the stability image is used to characterize the stability of the second simulator as the variable changes over the range of variables.
From step 1504-step 1506, the user can determine a smaller range of simulator parameters, i.e., a smaller range of controller parameters, from the stability image.
It should be noted that, in the embodiment of the present invention, steps 1500 to 1502 may be executed in parallel with steps 1504 to 1506, or may be executed sequentially, which is not limited in the embodiment of the present invention. If steps 1504-1506 are performed after steps 1500-1502, the user may further determine a smaller range of controller parameter sets from the larger range of controller parameter sets. Then, in step 1503, the user can determine the controller parameters meeting the design requirements from the smaller range of controller parameter sets. The simulation efficiency can be effectively improved, and the controller parameters meeting the design requirements can be quickly determined.
Example 2
Based on the same inventive concept, the embodiment of the present invention further provides a simulation apparatus for a robot controller, and since the apparatus is the apparatus in the method in the embodiment of the present invention, and the principle of the apparatus for solving the problem is similar to the method, the implementation of the apparatus may refer to the implementation of the method, and repeated details are not repeated.
As shown in fig. 16, the apparatus includes:
the simulation system comprises a selection input unit 1600, a simulation device and a simulation device, wherein the selection input unit 1600 is used for determining a first simulation device selected by a user and simulator parameters input by the user, the first simulation device is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in a simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;
and a track determining unit 1601, configured to respond to a data loading instruction, run the first simulator according to the simulator parameter, and convert a set of force parameters input by a user into track information through the first simulator, where the track information is used to represent a motion track of the robot to be simulated under the simulator parameter.
As an optional embodiment, after converting the set of force parameters input by the user into trajectory information by the first simulator, the determining trajectory unit is further configured to:
responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.
As an optional implementation manner, the track determining unit is further specifically configured to:
responding to a drawing instruction of a user, and determining a response curve corresponding to the drawing instruction according to the track information, wherein the response curve is used for representing the relation between position information in the track information and a preset variable; and/or the presence of a gas in the gas,
and responding to an index analysis instruction of a user, and determining a performance index value corresponding to the index analysis instruction according to the track information, wherein the performance index value is used for representing an index value determined when the track information meets a preset performance condition.
As an optional implementation manner, the apparatus further includes a stability analysis unit specifically configured to:
responding to a stability analysis instruction of a user, and determining the number of variables selected by the user and input non-variable parameters and variable ranges, wherein the stability analysis instruction is used for indicating the stability of the second simulator to be analyzed;
responding to a variable data loading instruction, operating the second simulator according to the variable range and the non-variable parameters, and converting the acting force parameter set input by the user into track information through the second simulator;
and determining the stability of the second simulator in the variable range according to the track information.
As an optional implementation manner, the stability analysis unit is specifically configured to:
and responding to a stability drawing instruction of a user, generating a stability image according to the relation between the variable and the stability, and displaying the stability image through an image display interface, wherein the stability image is used for representing the stability of the second simulator when the variable is changed in the variable range.
As an alternative embodiment, the response curve includes any one or more of:
a Bode plot curve;
a step response curve;
an impulse response curve.
Example 3
Based on the same inventive concept, the embodiment of the present invention further provides a simulation device of a robot controller, and since the device is a device in the method in the embodiment of the present invention, and the principle of the device for solving the problem is similar to that of the method, the implementation of the device may refer to the implementation of the method, and repeated details are omitted.
As shown in fig. 17, the apparatus includes a processor 1700 and a memory 1701 for storing programs executable by the processor, the processor for reading the programs in the memory and performing the steps of:
determining a first simulator selected by a user and simulator parameters input by the user, wherein the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;
responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters.
As an optional implementation, after the set of force parameters input by the user is converted into trajectory information by the first simulator, the processor is specifically further configured to perform:
responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.
As an optional implementation manner, the processor is specifically further configured to perform:
responding to a drawing instruction of a user, and determining a response curve corresponding to the drawing instruction according to the track information, wherein the response curve is used for representing the relation between position information in the track information and a preset variable; and/or the presence of a gas in the gas,
and responding to an index analysis instruction of a user, and determining a performance index value corresponding to the index analysis instruction according to the track information, wherein the performance index value is used for representing an index value determined when the track information meets a preset performance condition.
As an optional implementation manner, the processor is specifically further configured to perform:
responding to a stability analysis instruction of a user, and determining the number of variables selected by the user and input non-variable parameters and variable ranges, wherein the stability analysis instruction is used for indicating the stability of the second simulator to be analyzed;
responding to a variable data loading instruction, operating the second simulator according to the variable range and the non-variable parameters, and converting the acting force parameter set input by the user into track information through the second simulator;
and determining the stability of the second simulator in the variable range according to the track information.
As an optional implementation manner, the processor is specifically further configured to perform:
and responding to a stability drawing instruction of a user, generating a stability image according to the relation between the variable and the stability, and displaying the stability image through an image display interface, wherein the stability image is used for representing the stability of the second simulator when the variable is changed in the variable range.
As an alternative embodiment, the response curve includes any one or more of:
a Bode plot curve;
a step response curve;
an impulse response curve.
Based on the same inventive concept, an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored, which when executed by a processor implements the following steps:
determining a first simulator selected by a user and simulator parameters input by the user, wherein the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;
responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A method of simulating a robot controller, the method comprising:
determining a first simulator selected by a user and simulator parameters input by the user, wherein the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;
responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters;
responding to a stability analysis instruction of a user, and determining the number of variables selected by the user and input non-variable parameters and variable ranges, wherein the stability analysis instruction is used for indicating the stability of the second simulator to be analyzed;
responding to a variable data loading instruction, operating the second simulator according to the variable range and the non-variable parameters, and converting the acting force parameter set input by the user into track information through the second simulator;
and determining the stability of the second simulator in the variable range according to the track information.
2. The method of claim 1, wherein after converting the set of user-entered force parameters into trajectory information by the first simulator, further comprising:
responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.
3. The method of claim 2, wherein determining, in response to a user instruction, display content corresponding to the user instruction from the trajectory information comprises:
responding to a drawing instruction of a user, and determining a response curve corresponding to the drawing instruction according to the track information, wherein the response curve is used for representing the relation between position information in the track information and a preset variable; and/or the presence of a gas in the gas,
and responding to an index analysis instruction of a user, and determining a performance index value corresponding to the index analysis instruction according to the track information, wherein the performance index value is used for representing an index value determined when the track information meets a preset performance condition.
4. The method of claim 1, wherein determining the stability of the second simulator over the range of variables from the trajectory information comprises:
and responding to a stability drawing instruction of a user, generating a stability image according to the relation between the variable and the stability, and displaying the stability image through an image display interface, wherein the stability image is used for representing the stability of the second simulator when the variable is changed in the variable range.
5. The method of claim 3, wherein the response curve comprises any one or more of:
a Bode plot curve;
a step response curve;
an impulse response curve.
6. A simulation apparatus of a robot controller, characterized by comprising:
the simulation system comprises a selection input unit, a simulation analysis unit and a simulation analysis unit, wherein the selection input unit is used for determining a first simulator selected by a user and simulator parameters input by the user, the first simulator is used for determining the position information of a robot to be simulated according to acting force parameters input by the user and received in the simulation process, and the simulator parameters comprise attribute parameters representing the robot to be simulated and operation parameters required by the motion of the robot to be simulated;
the track determining unit is used for responding to a data loading instruction, operating the first simulator according to the simulator parameters, and converting an acting force parameter set input by a user into track information through the first simulator, wherein the track information is used for representing the motion track of the robot to be simulated under the simulator parameters;
the stability analysis unit is used for responding to a stability analysis instruction of a user, determining the number of variables selected by the user and input non-variable parameters and variable ranges, wherein the stability analysis instruction is used for indicating the stability of the second simulator to be analyzed; responding to a variable data loading instruction, operating the second simulator according to the variable range and the non-variable parameters, and converting the acting force parameter set input by the user into track information through the second simulator; and determining the stability of the second simulator in the variable range according to the track information.
7. The apparatus of claim 6, wherein after converting the set of user-entered force parameters into trajectory information via the first simulator, the determine trajectory unit is further configured to:
responding to a user instruction, determining display content corresponding to the user instruction according to the track information, and displaying through a display interface, wherein the display content is used for representing the relation between the track information of the robot to be simulated under the simulator parameter and the performance of the simulator.
8. An emulation apparatus for a robot controller, comprising a processor and a memory, said memory storing a program executable by said processor, said processor being adapted to read said program from said memory and to perform the steps of the method of any of claims 1 to 5.
9. A computer storage medium having a computer program stored thereon, the program, when executed by a processor, implementing the steps of the method according to any one of claims 1 to 5.
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