摘要
开发了异构多软件平台融合的机器人实时仿真系统。在欠驱动步行机器人动力学建模中引入虚拟样机技术,利用ADAMS软件生成动力学模型,利用MATLAB软件设计控制器,二者通过接口实现联合仿真;在开发人机界面及连接各个模块的接口中引入MATLAB和VC++混合编程技术,完成对硬件的驱动控制及系统平台的操作。该仿真系统实现对欠驱动步行机器人进行理论步态仿真、控制方法的开发及实验研究,对实体机器人的控制调试、实时控制算法的设计。
This paper introduced virtual prototyping and mixed programming technology to develop a real-time simulation system of multi-disciplinary integration for walking robot. The dynamic model of the virtual prototype is designed in the ADAMS,the controller is designed in the MATLAB, the connection of man-machine interface with every module is completed in the VC ＋＋, realizing the driving and controlling of the hardware and system platform. The simulation system realized the gait simulation, development of control algorithm and experimental study in theory, and the debugging, real-time control algorithm design of physical robot
出处
《系统仿真技术》
2010年第3期169-175,191,共8页
System Simulation Technology
基金
国家"八六三"高技术研究发展计划资助项目(2006AA04Z251)
国家自然科学基金资助项目(60974067)
关键词
步行机器人
实时仿真系统
虚拟样机
混合编程
walking robot
real-time simulation system
virtual prototype
mixed programming
