CN114970006A - Universal robot dynamics and control simulation method based on URDF - Google Patents
Universal robot dynamics and control simulation method based on URDF Download PDFInfo
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Abstract
The invention relates to a universal simulation method for robot dynamics and control based on URDF. The invention relates to the technical field of robot simulation, can simulate various different models by using multi-body dynamics simulation software MBDyn based on URDF model description, and is a universal simulation method for robot dynamics and control based on URDF. Deriving a URDF model of the target from the three-dimensional modeling software; setting the position relation of the URDF model in an mbs configuration file of multi-body dynamics simulation software; setting input and output parameters in the mbs configuration file, and performing motion control on the model; and importing the mbs configuration file into the MBDyn for multi-body dynamic simulation, generating a simulation animation, and outputting a simulation result.
Description
Technical Field
The invention relates to the technical field of robot simulation, can simulate various different models by using multi-body dynamics simulation software MBDyn based on URDF model description, and is a universal simulation method for robot dynamics and control based on URDF.
Background
Multi-body system dynamics is the science of studying the laws of motion of multi-body systems. It is a highly comprehensive discipline, relating to continuous medium mechanics, finite element method and structural mechanics. The early stage of the simulation of the robot multi-body system is a simulation stage based on modern computational mechanics, which is recently expanded to a multi-body system simulation stage combining structure, control and optimization and a multi-body product simulation stage combining mechanical-electrical-control and multi-physical fields. Therefore, a universal simulation method which is easy to obtain a target three-dimensional model and perform driving control needs to be designed.
Research and experimental results show that the existing robot simulation tool has the problems of inconvenient model introduction and low processing and calculation efficiency in processing the control simulation problems of different models. Robot simulation and control in some scenarios relies heavily on foreign software resources.
In conclusion, the invention utilizes three-dimensional modeling software to derive the URDF model of the target, and provides the robot dynamics and control simulation method based on the MBDyn multi-body dynamics simulation software. The URDF model is quoted in the mbDyn-mbs configuration file to obtain a simulation model with higher precision, parameters such as driving force, moment, speed, position and the like can be applied to the model in the configuration file to realize the control of the model, and efficient and convenient simulation calculation can be carried out on various different three-dimensional models.
The existing dynamics control and simulation methods have the problems of inconvenient modeling, low model precision and inefficient calculation. For example, the vrep software is not convenient for processing a three-dimensional model, and the problem of serious distortion exists when a complex model is imported; the method of combining Adams and Matlab is inconvenient for configuring constraints and parameters of the model such as connection, structural inertia and the like, and is not easy to modify the position relation of the model. Moreover, most of the software is introduced from abroad, and the information safety problem also exists when the software is used for some key scientific research projects in China.
Disclosure of Invention
The invention provides a universal simulation method for robot dynamics and control based on URDF, aiming at overcoming the defects of the prior art, and the invention provides the following technical scheme:
a URDF-based universal simulator for robot dynamics and control, the simulator comprising:
a three-dimensional derivation module that derives a URDF model of the robot target from three-dimensional modeling software;
the system comprises a configuration module, a dynamic simulation software and a dynamic simulation software, wherein the configuration module is used for setting the position relation of a URDF model in an mbs configuration file;
the control module sets input and output parameters in the mbs configuration file and controls the model to move;
and the simulation module imports the mbs configuration file into the MBDyn to perform multi-body dynamics simulation, generates simulation animation and outputs a simulation result.
Preferably, the three-dimensional derivation module performs model derivation for any multi-body system, and the model is derived to be a universal robot description model based on an XML specification for MBDyn simulation calling.
Preferably, the soft magnetic material is a nanocrystalline ribbon.
Preferably, the OG parameters are set in the mbs file by the configuration module to give the position and pose of the model described by the URDF.
Preferably, the INPUT and OUTPUT parameters are compiled in the mbs profile by the control module, so that the INPUT and OUTPUT parameters are given, and the speed, position or torque is given as the drive.
A universal simulation method for robot dynamics and control based on URDF comprises the following steps:
step 1: deriving a URDF model of the target from the three-dimensional modeling software;
step 2: setting the position relation of the URDF model in an mbs configuration file of multi-body dynamics simulation software;
and step 3: setting input and output parameters in the mbs configuration file, and performing motion control on the model;
and 4, step 4: and importing the mbs configuration file into the MBDyn for multi-body dynamic simulation, generating a simulation animation, and outputting a simulation result.
Preferably, the step 1 specifically comprises: and defining the connection name, the joint name, the coordinate system, the coordinate axis and the kinematic pair type parameter of the URDF model in the three-dimensional modeling, and exporting a folder after setting, wherein a URDF subfolder contains the URDF model description, and a meshes subfolder contains the STL three-dimensional model file containing the model position information.
Preferably, the step 2 specifically comprises: the QG parameter setting mode modifies the position and the posture of the URDF model in the simulation software in the step 1, the OG parameter has seven positions, the first three positions are coordinates of a specific point in the model, and the last four positions are posture quaternions; applying drive to the kinematic pair or component; some rigid body models are added by setting RIGIDBODY and designating GEOMETRY, and participate in simulation together with the URDF model.
Preferably, importing the mbs configuration file into MBDyn multi-body dynamics simulation software for simulation;
deriving a URDF model of the seven-degree-of-freedom mechanical arm and the dexterous hand from three-dimensional modeling software, and providing a model description basis for simulation; then, setting the assembling relation between the mechanical arm and the dexterous hand model by setting QG parameters in the MBDyn configuration file, and connecting the dexterous collection and the connection to the mechanical arm through constraint description to finish assembling.
A computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor executing a universal simulation method for dynamics and control of a URDF based robot when the processor executes the computer program stored in the memory.
The invention has the following beneficial effects:
the invention provides a universal simulation method for robot dynamics and control based on URDF, which can effectively perform dynamics simulation aiming at various different complex three-dimensional models, and can conveniently obtain a simulation model with an assembly relation by using three-dimensional modeling software to derive the URDF model.
The invention adjusts the position and the posture of the model by utilizing the mbs configuration file, can add a new model to be used for simulation together with the URDF model, can adjust the model according to actual requirements, and has high flexibility.
The invention utilizes MBDyn software to carry out simulation calculation, effectively gets rid of dependence on foreign multi-body dynamics simulation software, improves the degree of localization, pays attention to independent intellectual property rights and improves the software security.
Drawings
FIG. 1 is a representation of various complex models based on URDF;
FIG. 2 is a URDF model joint description;
FIG. 3 is an MBDyn input interface;
FIG. 4 is a simulated action sequence of a capture action based on a URDF model;
FIG. 5 is the URDF parameter definition;
FIG. 6 is a URDF export folder;
FIG. 7 is the dexterous hand QG parameter;
FIG. 8 is a definition of a rectangular parallelepiped shape.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The first embodiment is as follows:
as shown in fig. 1 to 8, the specific optimized technical solution adopted to solve the above technical problems of the present invention is: the invention relates to a universal simulation method for robot dynamics and control based on URDF.
A URDF-based universal simulator for robot dynamics and control, the simulator comprising:
a three-dimensional derivation module that derives a URDF model of the robot target from three-dimensional modeling software;
the system comprises a configuration module, a positioning module and a processing module, wherein the configuration module is used for setting the position relation of a URDF model in an mbs configuration file of multi-body dynamics simulation software;
the control module sets input and output parameters in the mbs configuration file and controls the model to move;
and the simulation module imports the mbs configuration file into the MBDyn for multi-body dynamic simulation, generates a simulation animation, and outputs a simulation result.
The three-dimensional derivation module is used for carrying out model derivation aiming at any multi-body system and deriving the model into a universal robot description model based on XML specification for MBDyn simulation calling.
The soft magnetic material is a nanocrystalline strip.
The position and the posture of the model described by the URDF are given by setting OG parameters in an mbs file through a configuration module.
The INPUT and OUTPUT parameters are edited in the mbs configuration file by the control module, so that the INPUT and OUTPUT parameters are given, and the speed, the position or the torque are given as the drive.
The second embodiment is as follows:
the invention provides a universal simulation method for robot dynamics and control based on URDF.
The specific scheme is as follows:
a universal simulation method for robot dynamics and control based on URDF is disclosed, which comprises the following steps: the method comprises the following steps:
step 1: deriving a URDF model of the target from the three-dimensional modeling software;
the step 1 specifically comprises the following steps: and defining the connection name, the joint name, the coordinate system, the coordinate axis and the kinematic pair type parameter of the URDF model in the three-dimensional modeling, and exporting a folder after setting, wherein a URDF subfolder contains the URDF model description, and a meshes subfolder contains the STL three-dimensional model file containing the model position information.
Step 2: setting the position relation of the URDF model in an mbs configuration file of multi-body dynamics simulation software;
the step 2 specifically comprises the following steps: the mode of setting QG parameters modifies the position and the posture of the URDF model in the simulation software in the step 1, wherein the OG parameters have seven bits, the first three bits are the coordinates of a specific point in the model, and the last four bits are the posture quaternion; applying drive to the kinematic pair or component; some rigid body models are added by setting RIGIDBODY and designating GEOMETRY, and participate in simulation together with the URDF model.
And step 3: setting input and output parameters in the mbs configuration file, and performing motion control on the model;
and 4, step 4: and importing the mbs configuration file into the MBDyn for multi-body dynamic simulation, generating a simulation animation, and outputting a simulation result.
Importing the mbs configuration file into MBDyn multi-body dynamics simulation software for simulation;
deriving a URDF model of the seven-degree-of-freedom mechanical arm and the dexterous hand from three-dimensional modeling software, and providing a model description basis for simulation; then, setting the assembling relation between the mechanical arm and the dexterous hand model by setting QG parameters in the MBDyn configuration file, and connecting the dexterous collection and the connection to the mechanical arm through constraint description to finish assembling.
The third concrete embodiment:
the invention provides a universal simulation method for robot dynamics and control based on URDF, which comprises the following steps:
in the step 1), parameters such as the connection name, the joint name, the coordinate system, the coordinate axis, the kinematic pair type and the like of the URDF model can be defined in three-dimensional modeling software, as shown in the figure. After the setup is completed, the export folder is shown, wherein the URDF subfolder is under the URDF subfolder containing the URDF model description.
Step 2) the position and the posture of the URDF model in the step 1) in the simulation software can be modified in a mode of setting QG parameters, wherein the OG parameters have seven positions, the first three positions are coordinates of a specific point in the model, and the last four positions are posture quaternions; the drive can be applied to the kinematic pair or the parts; some rigid body models can be added by setting RIGIDBODY and designating GEOMETRY, and participate in simulation together with the URDF model.
And 3) importing the mbs configuration file into MBDyn multi-body dynamics simulation software for simulation. Here, simulation analysis and explanation are performed with a combined model of a seven-degree-of-freedom robot arm and a dexterous hand.
Firstly, a URDF model of the seven-degree-of-freedom mechanical arm and the dexterous hand is derived from three-dimensional modeling software, and a model description basis is provided for simulation. And then setting the assembling relation of the mechanical arm and the dexterous hand model by setting QG parameters in the MBDyn configuration file. The QG parameters of the dexterous hand in the configuration file are shown in the figure, the first three positions are world coordinates of a flange at the tail end of the mechanical arm, the second four positions specify the initial posture of the dexterous hand in a quaternion mode, and then the dexterous hand is fixedly connected to the mechanical arm through constraint description to complete assembly. As shown in the figure, a cuboid model with the length, width and height of 40 × 120 × 40mm is also edited in the configuration file as a capture target of the dexterous hand.
After the input and output parameters are set in the configuration file, the model defined by the URDF and the mbs configuration file is imported into the MBDyn for simulation, so as to obtain a simulation action sequence as shown in fig. 8.
The fourth concrete embodiment:
a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor executing a universal simulation method for dynamics and control of a URDF based robot when the processor executes the computer program stored in the memory.
The above description is only a preferred embodiment of the URDF-based robot dynamics and control general simulation method, and the protection scope of the URDF-based robot dynamics and control general simulation method is not limited to the above embodiments, and all technical solutions belonging to the idea belong to the protection scope of the present invention. It should be noted that modifications and variations which do not depart from the gist of the invention will be those skilled in the art to which the invention pertains and which are intended to be within the scope of the invention.
Claims (10)
1. A robot dynamics and control general simulator based on URDF is characterized in that: the simulator includes:
a three-dimensional derivation module that derives a URDF model of the robot target from three-dimensional modeling software;
the system comprises a configuration module, a positioning module and a processing module, wherein the configuration module is used for setting the position relation of a URDF model in an mbs configuration file of multi-body dynamics simulation software;
the control module sets input and output parameters in the mbs configuration file and controls the model to move;
and the simulation module imports the mbs configuration file into the MBDyn to perform multi-body dynamics simulation, generates simulation animation and outputs a simulation result.
2. The universal simulator for dynamics and control of robots based on URDF of claim 1, wherein: the three-dimensional derivation module is used for carrying out model derivation aiming at any multi-body system and deriving the model into a universal robot description model based on XML specification for MBDyn simulation calling.
3. The URDF-based universal robot dynamics and control simulator of claim 2, wherein: the simulation module carries out calculation of multi-body system dynamics to obtain input and output relations and simulation animation, and simulation results can be used for post-processing.
4. The universal simulator for dynamics and control of robots based on URDF of claim 3, wherein: the OG parameters are set in the mbs file by the configuration module to give the position and posture of the model described by the URDF.
5. The universal simulator for dynamics and control of robots based on URDF of claim 4, wherein: the INPUT and OUTPUT parameters are edited in the mbs configuration file by the control module, so that the INPUT and OUTPUT parameters are given, and the speed, the position or the torque are given as the drive.
6. A URDF-based universal robot dynamics and control simulation method, based on the URDF-based universal robot dynamics and control simulator of claim 1, wherein: the method comprises the following steps:
step 1: deriving a URDF model of the target from the three-dimensional modeling software;
step 2: setting the position relation of the URDF model in an mbs configuration file of multi-body dynamics simulation software;
and step 3: setting input and output parameters in the mbs configuration file, and performing motion control on the model;
and 4, step 4: and importing the mbs configuration file into the MBDyn for multi-body dynamic simulation, generating a simulation animation, and outputting a simulation result.
7. The universal simulation method for dynamics and control of a URDF-based robot of claim 6, wherein: the step 1 specifically comprises the following steps: and defining the connection name, the joint name, the coordinate system, the coordinate axis and the kinematic pair type parameter of the URDF model in the three-dimensional modeling, and exporting a folder after setting, wherein a URDF subfolder contains the URDF model description, and a meshes subfolder contains the STL three-dimensional model file containing the model position information.
8. The universal simulation method for dynamics and control of a URDF-based robot of claim 7, wherein: the step 2 specifically comprises the following steps: the mode of setting QG parameters modifies the position and the posture of the URDF model in the simulation software in the step 1, wherein the OG parameters have seven bits, the first three bits are the coordinates of a specific point in the model, and the last four bits are the posture quaternion; applying drive to the kinematic pair or component; some rigid body models are added by setting RIGIDBODY and designating GEOMETRY, and participate in simulation together with the URDF model.
9. The universal simulation method for dynamics and control of a URDF-based robot of claim 8, wherein: importing the mbs configuration file into MBDyn multi-body dynamics simulation software for simulation;
deriving a URDF model of the seven-degree-of-freedom mechanical arm and the dexterous hand from three-dimensional modeling software, and providing a model description basis for simulation; then, setting the assembling relation between the mechanical arm and the dexterous hand model by setting QG parameters in the MBDyn configuration file, and connecting the dexterous collection and the connection to the mechanical arm through constraint description to finish assembling.
10. A computer device, characterized by: comprising a memory and a processor, said memory having stored therein a computer program which, when executed by said processor, performs a URDF-based universal robot dynamics and control simulation method according to any one of claims 6-9.
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20120119402A (en) * | 2011-04-21 | 2012-10-31 | 주식회사 케이엠씨로보틱스 | Apparatus for emulating user created robot and method for importing user created robot model |
| CN110096829A (en) * | 2019-05-08 | 2019-08-06 | 浙江大学 | A kind of Rigid-flexible Coupling Dynamics emulation mode of cantilevered Cartesian robot |
| CN110531640A (en) * | 2019-09-11 | 2019-12-03 | 北京云迹科技有限公司 | A kind of comprehensive simulating method and system of robot |
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