| 引用本文: | 徐文福,佘宇,牟宗高.排爆作业机器人嵌入式半物理仿真系统[J].哈尔滨工业大学学报,2013,45(7):79.DOI:10.11918/j.issn.0367-6234.2013.07.015 |
| XU Wenfu,SHE Yu,MU Zonggao.Embedded semi-physical simulation system of bomb-disposal robot[J].Journal of Harbin Institute of Technology,2013,45(7):79.DOI:10.11918/j.issn.0367-6234.2013.07.015 |
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| 摘要: |
| 针对排爆机器人的作业需求,开发了一套由嵌入式系统及3D仿真平台组成的半物理仿真系统,对排爆机器人的典型操作任务——危险物探测、爆炸物处理等任务进行仿真实验．采用单片机开发排爆机器人的嵌入式控制系统,运行实际的轨迹规划与控制算法,并按真实的时序产生控制指令；采用VC和OSG软件开发3D实时仿真平台,该平台由动力学模型、系统3D几何模型、双目相机模型、传感器模型等组成,在一台PC机上运行；将嵌入式控制系统与3D仿真平台集成,进行典型工况的闭环控制仿真. 仿真结果表明了该系统的有效性． |
| 关键词: 排爆机器人 半物理仿真 路径规划 嵌入式系统；3D仿真平台 |
| DOI：10.11918/j.issn.0367-6234.2013.07.015 |
| 分类号: |
| 基金项目:国家自然科学基金资助项目（61175098）. |
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| Embedded semi-physical simulation system of bomb-disposal robot |
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XU Wenfu1,2, SHE Yu1,2, MU Zonggao1,2
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(1.Shenzhen Graduate School, Harbin Institute of Technology, 518055 Shenzhen, China;2. Shenzhen Key Lab of Digital Manufacturing Technology, 518055 Shenzhen, China)
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| Abstract: |
| For the operating needs of bomb-disposal robot, a set of semi-physical simulation system, which consists of a embedded control system and a 3D simulation system, is developed to simulate the typical operation tasks, such as hazardous materials detection, explosives handling, et al. Firstly, the embedded control system is developed based on a single-chip microcomputer, the actual trajectory planning and control algorithm is used, and the control instructions according to the true timing is generated. Secondly, using VC and OSG (Open Scene Graph) software, the 3D simulation system is programmed, which is composed of dynamic, geometry, binocular camera, sensor models, et al, and it can be run on a PC computer. Finally, by integrating the embedded control system and the 3D simulation system, the closed-loop control simulation of typical tasks is completed. The simulation results show the effectiveness of the system. |
| Key words: bomb-disposal robot semi-physical simulation path planning embedded systems 3D simulation system
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