WO2008069366A1 - Système de simulation de robot faisant appel à un réseau - Google Patents

Système de simulation de robot faisant appel à un réseau Download PDF

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Publication number
WO2008069366A1
WO2008069366A1 PCT/KR2007/000578 KR2007000578W WO2008069366A1 WO 2008069366 A1 WO2008069366 A1 WO 2008069366A1 KR 2007000578 W KR2007000578 W KR 2007000578W WO 2008069366 A1 WO2008069366 A1 WO 2008069366A1
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WO
WIPO (PCT)
Prior art keywords
simulation
robot
server
network
client
Prior art date
Application number
PCT/KR2007/000578
Other languages
English (en)
Inventor
Kyong Sok Chang
Sangyup Yi
Original Assignee
Simlab Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Simlab Co., Ltd. filed Critical Simlab Co., Ltd.
Publication of WO2008069366A1 publication Critical patent/WO2008069366A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F15/00—Digital computers in general; Data processing equipment in general
    • G06F15/16—Combinations of two or more digital computers each having at least an arithmetic unit, a program unit and a register, e.g. for a simultaneous processing of several programs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/02—CAD in a network environment, e.g. collaborative CAD or distributed simulation

Definitions

  • the present invention relates to a robot simulation system using a network. More specifically, the invention relates to a robot simulation system using a network, which performs dynamics simulations on a network server using a robot motion control algorithm executed in a user terminal and transmits and outputs result data of the simulation to a plurality of user terminals through a network such as the Internet, thereby allowing a plurality of users to simultaneously monitor simulation results of one robot.
  • a network such as the Internet
  • Robots are categorized into a variety of types. Typical one thereof is a mobile robot provided with wheels or moving means for performing predetermined simple works, such as moving things, cleaning, or the like, an industrial robot for moving parts, performing welding operations, or the like with one or more moving arms, and a humanoid robot constructed similarly to the structure of a human body, for doing behaviors similar to human behaviors.
  • a dog-and-horse robot provided with four legs and walking with four feet, such as a dog or a horse, for moving things, taking part in a combat or a rescue operation, and so on.
  • a robot is used as a term including all of such a mobile robot, industrial robot, humanoid robot, dog- and-horse robot, and the like.
  • the robot comprises a plurality of motors, sensors, joints, computers, and the like. Therefore, changing constitutional elements after the robot has been manufactured will bring about a significant loss in time and cost. In addition, operational or structural problems of the robot cannot be accurately figured out before completing the robot, and thus tries and errors are indispensable for manufacturing a desired robot.
  • a data sharing system using a network should be constructed for a professor or a lecturer to transfer a simulation processing state or a simulation result to a plurality of students while performing a simulation at his or her terminal.
  • the data sharing system should be constructed for a plurality of the students to transmit a result of a simulation performed at their terminals to the professor s terminal and output the result so that the professor or the lecturer may evaluate the students or mark their results. Disclosure of Invention Technical Problem
  • the present invention has been made in an effort to solve the above problems, and it is an object of the invention to provide a robot simulation system using a network, which allows a plurality of researchers to access a simulation server through the Internet, perform, on a network server, a dynamics simulation of a robot control algorithm configured in a simulation client, exchange simulation results with one another through the Internet or a point-to-point network, and discuss the simulation results or exchange opinions viewing the simulation results together.
  • Another object of the invention is to provide a robot simulation system using a network, in which a simulation engine based on dynamics is applied to simulate a robot in a software environment, thereby allowing motions of the robot to be observed in the same conditions as the ones given to a real robot.
  • a robot simulation system using a network which simulates operations of a virtual robot that is three-dimensionally implemented, creates simulation result data, and transmits the simulation result data to a simulation client through a network
  • the system comprising: a simulation server for storing joint information and sensor information of the robot, receiving a three-dimensional (3D) model of the robot from the simulation client, and performing a simulation based on dynamics; a virtual laboratory (V-Lab) server for transmitting a list of accessible simulation servers to the simulation client through the network and performing user authentication of the simulation client based on a password in order to selectively allow a specific simulation client to access the simulation server; a control server for communicating with the V-Lab server, transmitting information on a site where the simulation server is installed, to the V-Lab server and registering the site information with the V-Lab server; and an activator for starting an operation of the simulation server if a simulation start command that is inputted from the simulation client
  • the simulation server stores physical and mechanical characteristic values unique to the robot and map data, wherein the physical and mechanical characteristic values unique to the robot are the number of joints, positions of the joints, joint limits, constraints, and sensor information, and the map data of the robot is information on arrangement of landmarks of a virtual place where the simulation is performed and friction coefficient of the surface of the virtual place.
  • the 3D model includes mesh information needed for collision detection of the robot, physical coefficients, and characteristics of a driving apparatus, and the physical coefficients include mass, moment of inertia, center of gravity, friction coefficient, elastic coefficient, and damping.
  • the simulation client comprises: a network module for accessing the V-Lab server or the simulation server through the network and transmitting and receiving data; an extensible markup language (XML) model loader for reading robot model data of an XML format created for each of a plurality of robots; a script virtual machine for transferring a mission script created by a user to the simulation server so that the mission script is dynamically linked while the simulation is performed and providing a time event-based user program interface to render a complex motion by combining unit motions of the robot; and a robot motion plug-in interface for executing a robot motion implementation code of a robot control algorithm, calculating torque to be applied to each joint of the robot, and transmitting the calculated torque to the simulation server through the network.
  • XML extensible markup language
  • the robot model data are physical coefficients and graphics data defined for the robot to execute a virtual simulation.
  • the mission script is a modularized control command for rendering a series of complex motions by combining motions of the robot.
  • a plurality of researchers or manufacturers par- ticipating in manufacturing a robot can exchange opinions needed for designing the robot through a network without restrictions while viewing together a result of a simulation performed on a server, and data can be modified and confirmed in realtime, and thus it is effective in that time and cost needed for manufacturing the robot can be reduced.
  • a robot design lecture is delivered to a plurality of students at a school or a private educational institute
  • a result of a simulation performed by each student can be monitored at a terminal of a professor or a lecturer, and the professor or the lecturer can comment or evaluate thereon in real-time, and thus it is effective in that a highly effective lecture can be delivered.
  • FIG. 1 is a view showing simulation system connectivity according to an embodiment of the present invention
  • FIG. 2 is a view showing constitutional elements of a simulation client
  • FIG. 3 is a flowchart illustrating the process of a dynamics simulation
  • FIG. 4 is a view showing a user interface of the simulation client.
  • FIG. 1 is a view showing simulation system connectivity according to an embodiment of the present invention.
  • the connection method of the network shown in FIG. 1 is a server-client connection method, in which a plurality of terminals (simulation clients) is connected to a server (a simulation system) for creating a network and shares data with each other.
  • the simulation system 100 is connected to a plurality of simulation clients 200 through a network 300.
  • the network 300 of the present invention is used as a concept of including both an open network, such as the Internet, and an internal network, such as a local area network (LAN) or a virtual private network (VPN).
  • an open network such as the Internet
  • an internal network such as a local area network (LAN) or a virtual private network (VPN).
  • LAN local area network
  • VPN virtual private network
  • the V-Lab server 102 is a server to which a researcher is connected first when executing the simulation client 200.
  • the V-Lab server 102 transmits a password-based user authentication, a client version and patches thereof, a list of accessible simulation servers 112, and the like to the simulation client 200 through the network 300.
  • the V-Lab server selectively allows a specific simulation client 200 to be connected to the simulation server 112 and can provide a lobby service, such as character message transmission and the like between users.
  • the patch server 104 is a server for performing an automatic patching function in order to maintain a plurality of simulation clients 200 connected to the simulation system 100 to be in a latest version. If the simulation client 200 is updated due to debugging or addition of a new function, the update is automatically applied to the connected simulation clients 200.
  • the patch server 104 patches the simulation clients 200, distributes robot data and robot contents, i.e., data on a virtual simulation environment (landmarks and surface friction of a place where the robot virtually acts), and if new robot contents are set, confirms versions of the connected simulation clients 200 and transmits a new patch.
  • robot data and robot contents i.e., data on a virtual simulation environment (landmarks and surface friction of a place where the robot virtually acts)
  • the simulation system 100 can have a plurality of sites 106 (one to n sites) for performing a unit robot simulation.
  • the site 106 means a virtual laboratory that provides simulation services for a specific robot, and each research institute can concurrently have a plurality of the sites 106 as needed.
  • a user executes the simulation client 200, accesses the V-Lab server 102 and searches for an open site 106, and accesses a desired site 106 and uses the simulation services.
  • the simulation client initially accesses the simulation server through the V-Lab server. However, once communication with the simulation server is established, the simulation client is directly connected to the simulation server thereafter.
  • another user can have an access to the same site 106 through his or her simulation client 200 and participate in the simulation performed by another user, thereby being able to monitor or share simulation results through the network 300.
  • One simulation system 100 can have more than one or two sites 106 that are constructed as physically separated independent servers or constructed in software sharing constitutional elements in the simulation system 100.
  • the site 106 In order to perform Internet-based simulations in various types of robot test beds, the site 106 should be one-to-one connected to each of the robot test beds. If a research institute A simulates a robot in a test bed a , a new site A is open to provide the simulation service. Since the site A automatically registers itself into the V-Lab 102 as soon as the service is open, the user knows through the V-Lab server 102 that he or she can be provided with the simulation service of the robot test bed a from the site A, and actually accesses the simulation server 112 of the site A and receives simulation data. A robot test bed b developed by a new research institute is serviced through a new site B. In this manner, the simulation system 100 is expanded by the unit of site.
  • a control server 108 is installed inside the site 106.
  • One control server 108 exists per site 106, transmits site information to the V-Lab server 102 in order to register the site as soon as the site starts to provide the service (when the control server is powered on), and registers security policies and the like of the site 106. If a user requests to access the server, the control server transfers user authentication and processing of the user s access request to the simulation server 112. In addition, the control server performs a server process management function, such as monitoring a process of the simulation server 112, automatically recovering the process if an error occurs, and the like.
  • the activator 110 puts the simulation server 112 into operation or stops the operation in response to a request from the control server 108.
  • the simulation server 112 that performs a robot simulation based on dynamics starts to operate if the simulation client 200 requests, and stops operating if the simulation client does not request.
  • an operation request transmitted from the V-Lab server 102 is transferred to the activator 110 through the control server 108, the simulation server 112 starts to operate and a robot simulation corresponding to the user s request is started.
  • the simulation server 112 is a server that sets a virtual experiment environment and takes in charge of dynamics simulations of the robot based the environment. If the simulation server 112 starts to operate by the activator 110, the simulation server reads a needed 3D model and constructs a virtual dynamics simulation environment.
  • the 3D model includes not only mesh information that is needed for collision detection, but also physical coefficients, joint information, characteristics of a driving apparatus, and the like.
  • the physical coefficient includes mass, moment of inertia, center of gravity, friction coefficient, elastic coefficient, damping, and the like
  • the joint information includes joint attributes, joint constraints, and the like. Such information is used for a dynamics algorithm whose reliability is verified, and the simulation is progressed.
  • the simulation server 112 stores physical and mechanical characteristic values (the number of joints, the positions of joints, joint limits, constraints, and sensor information) and map data (arrangement of landmarks and values of physical characteristics, such as friction coefficient and the like), which are unique to the robot and needed for simulation.
  • FIG. 2 is a view showing constitutional elements of the simulation client, and the structure of the simulation client 200 is described referring to FIGS. 1 and 2.
  • the simulation client 200 is a development environment that a user (a researcher) actually uses, in which a simulation client platform including a graphic user interface (GUI) for the simulation, a 3D simulation viewer that can monitor a simulation state, a variety of analysis tools, and the like is mounted.
  • GUI graphic user interface
  • the network module 202 is connected to the V-Lab server 102 and the simulation server 112 of the simulation system 100 through the network 300 and transmits and receives data, which also performs data encoding and decoding for data security.
  • the data exporter 204 provides a function of storing simulation result data.
  • the stored simulation result can be repetitively reproduced using a recorder (not shown), and a user can temporarily suspend the simulation and observe the simulation result by forwarding simulation time steps one by one.
  • the simulation result data can be used to output two-dimensional or three-dimensional graphs using external tools, such as a general public license (GNU) plot (not shown) or the like.
  • GNU general public license
  • the 3D graphic module 206 outputs the simulation result in 3D graphics on the screen.
  • the XML model loader 208 reads robot model data 210 of an XML format created for each robot.
  • the robot model data 210 means, as described above, physical coefficients and graphics data defined for the robot to execute a virtual simulation.
  • the script virtual machine 212 is a module for dynamically linking, while performing a simulation, the mission script 214 created by a user, which provides a time event-based user program interface for rendering a complex motion by combining unit motions of the robot.
  • a researcher controls the simulation through the script virtual machine and can expand the simulation client platform using the separate GUI expansion script 216.
  • the robot motion plug-in interface 220 is an expandable interface for a robot motion control algorithm. In order to design and implement the robot motion control algorithm, the robot motion plug-in interface 220 should be expanded, and a C++ code should be programmed.
  • the robot motion plug-in interface 220 has an application programming interface (API) that allows referring to the stored current joint information and sensor information of a robot. The researcher should calculate values for controlling robot motions (a proportional, integral, derivative (PID) gain, desired joint positions, and desired joint velocities) referring to the joint information and sensor information).
  • API application programming interface
  • the simulation system can smoothly operate even when simulations for different types of robots are performed.
  • the robot motion implementation 222 is a unit for implementing a robot control algorithm created by a user, which dynamically calculates control commands for detailed actions needed to complete a specific motion of a robot, such as actions of raising and forwarding the left foot first, raising and forwarding the right foot next, and so on to complete a walking forward motion.
  • FIG. 3 is a flowchart illustrating the process of a dynamics simulation.
  • the robot motion plug-in interface 220 calculates desired torque that will be applied to each joint of the robot by executing the code of the robot motion implementation 222 S104 and S106.
  • the calculated desired torque is transmitted to the simulation server 112 through the network 300 S 108.
  • the simulation server 112 performs a dynamics simulation using the information Sl 10.
  • the simulation server 112 transmits the joint information of the robot changed through the simulation to the simulation client 200 through the network 300 Sl 12.
  • the simulation client 200 is allowed to perform an additional simulation based on the changed joint information S 114.
  • the simulation server 112 of the present invention performs a simulation based on dynamics.
  • dynamics based means that a state of a motion or the like of an object is determined by solving the equation of motion of the object based on the force applied to the object. As a result, the motion of the robot is realistically calculated, which is similar to the actual motion of the robot.
  • a dynamics engine is contained in the simulation server 112 of the present invention in order to prevent such a problem, and since a motion is applied considering positions of joints, structure of the robot, center of gravity, and the like, a motion that is the same as a real one can be simulated.
  • a plurality of researchers gains access to the site 106 where a dynamics simulation is performed, receives simulation result data, and processes the data through the user interface 218.
  • Other users who have an access to the same simulation site 106 are displayed on the user interface 218, and the users can exchange opinions with one another through a separate dialog window or a message window.
  • FIG. 4 is a view showing a user interface of the simulation client.
  • the simulation client handling interface A includes buttons for starting and stopping a simulation, storing and repeating the simulation, setting simulation options, and the like.
  • the simulation object configuration interface B displays constitutional elements of a robot, for which a simulation is performed, in a tree structure, and a researcher can specify in detail the operation of a particular constitutional element that he or she desires.
  • the simulation attribute adjusting interface C is a window for displaying dynamics attributes, through which weight of a robot, friction coefficient of a surface, center of gravity, and the like can be adjusted.
  • the simulation result display and script drive window D outputs warning or error messages occurring while a simulation is performed or displays the process of the simulation. In addition, a result of executing a script is displayed thereon.
  • the simulation monitoring window E outputs numeric values of a simulation result, such as joint angles, in real-time.
  • the simulation viewer F displays a virtual 3D robot implemented in software, through which motions or changes of postures of a robot can be observed in real-time.
  • the real-time analysis window G displays values that are needed for analyzing a simulation result in the form of a real-time graph.
  • the network state window H displays log-in states of other users who are connected to the simulation system 100.
  • Other than these, a variety of forms of tools can be provided to execute and analyze a simulation.

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Abstract

La présente invention concerne un système de simulation de robot faisant appel à un réseau. Plus particulièrement, elle concerne un système de simulation de robot faisant appel à un réseau et émettant et produisant en sortie des données de résultat d'une simulation de robot virtuelle réalisée dans un terminal utilisateur, en direction d'une pluralité de terminaux utilisateurs et par l'intermédiaire d'un réseau tel que l'internet, ce qui permet à une pluralité d'utilisateurs de surveiller simultanément le résultat de simulation du robot. Selon la présente invention, une pluralité de chercheurs ou de fabricants participant à la fabrication d'un robot peuvent échanger des opinions nécessaires à la conception du robot tout en visualisant ensemble un résultat d'une simulation réalisée sur un serveur, et des données peuvent être modifiées et confirmées en temps réel. Par conséquent, le système de l'invention est efficace étant donné qu'il permet de réduire le temps et le coût requis pour la fabrication du robot.
PCT/KR2007/000578 2006-12-04 2007-02-02 Système de simulation de robot faisant appel à un réseau WO2008069366A1 (fr)

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KR1020060121131A KR100756345B1 (ko) 2006-12-04 2006-12-04 네트워크를 이용한 로봇 시뮬레이션 시스템
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CN103297861A (zh) * 2013-06-05 2013-09-11 中国科学院自动化研究所 一种基于PeerSim的P2P视频点播仿真系统
CN112987595A (zh) * 2021-03-06 2021-06-18 亚联美育(海南)教育科技集团有限公司 智能云计算机器人仿真系统软件及其操作方法
CN115185197A (zh) * 2021-04-01 2022-10-14 广东博智林机器人有限公司 一种机器人的仿真测试平台
US11978347B2 (en) 2020-01-06 2024-05-07 Electronics And Telecommunications Research Institute Method and apparatus for generating data set of unmanned aerial vehicle

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KR101127469B1 (ko) 2010-04-02 2012-03-22 한국과학기술연구원 네트워크 기반 로봇의 소프트웨어 개발 시스템 및 방법
KR101505598B1 (ko) 2010-10-26 2015-03-24 주식회사마이크로컴퓨팅 로봇 교육 장치
CN112069072A (zh) * 2020-09-07 2020-12-11 上海高仙自动化科技发展有限公司 一种机器人仿真控制系统、方法、服务器及存储介质

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CN112987595A (zh) * 2021-03-06 2021-06-18 亚联美育(海南)教育科技集团有限公司 智能云计算机器人仿真系统软件及其操作方法
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