CN107272447A - A kind of emulation mode, simulator and robot emulation system - Google Patents
A kind of emulation mode, simulator and robot emulation system Download PDFInfo
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Abstract
The invention discloses a kind of emulation mode, simulator and robot emulation system, the component computer system, embedded system, servo control card, robot and sensor cluster；Realize the analogue simulation of robot.And this technology combines the Real-time Feedback of LabVIEW softwares, LabVIEDSCW softwares, MatLab softwares, Solidworks softwares, SoftMotion softwares and sensor group 5, it is ensured that the real-time and authenticity of emulation and control.
Description
Technical field
The present invention relates to technical field of system simulation, more particularly to the in-circuit emulation method of robot, simulator and
Robot emulation system.
Background technology
Industrial Robots Simulation System is towards mechanical engineering, to control engineering, electronic technology, sensing technology, computer with
And the multi-joint or the installations of multivariant automatic execution work of artificial intelligence field.Actually by calculating
The technology that machine is simulated to actual robot system.It can be to robot kinematics, dynamics, trajectory planning and control
Algorithm carries out simulation calculation, can be with the various operating process of emulated robot, and the result of emulation is analyzed and processed, and
Can be the effective means and capable work of design robot system and its correlation technique independent of the robot device in reality
Tool.
Industrial robot kinematics graphical simulation is an important component of robot emulation system.It is by robot
Kinematics Simulation result shown in the way of 3D figures, intuitively show the motion conditions of robot.Can be in computer
The motion mode of robot is seen on screen, the result of trajectory planning interactively can also carry out teaching emulation to robot.
Robot kinematics' graph simulation is that robot emulation system establishes man-machine interface well.It can complete different
Task, when robot changes task, need to generally interrupt the work at present of robot, first carry out teaching to robot
Programming, if then robot can be first in emulation by means of robot emulation system according to the new work of new program execution
Off-line programing is carried out in system, then the program finished is attached in robot, robot just can perform new according to new program
Work, therefore robot can need not interrupt current work, so as to improve production efficiency, and this method not only economy but also
Safety.
Existing robot emulation system has a variety of, but there is real-time and authenticity is not high, emulational-mode and reality
The problem of error is larger between product.
The content of the invention
The present invention proposes a kind of emulation mode, simulator and robot simulation to overcome the deficiencies in the prior art
System, it is therefore intended that realize the authenticity and real-time of emulation, while ensureing low cost.
In order to solve above-mentioned technical problem, basic technical scheme proposed by the present invention is：
On the one hand a kind of emulation mode is proposed, for having in the embedded system simulation execution based on LabVIEW environment
The action of the robot of visual effect, possesses following steps：
Obtain the step of creating model cootrol program under LabVIEDSCW softwares；
The robot power number based on MatLab software programmings is set up in acquisition in the operating system with computer function
The step of learning model；
According to the robot power number under the Solidworks software environments of the operating system with computer function
The step of learning each original paper attribute of modelling and set up three-dimensional STATIC SIMULATION model；
SoftMotion softwares in embedded systems are obtained three-dimensional STATIC SIMULATION model with being based in real time
The control program of LabVIEDSCW software programmings associates and creates the step of contact is final to set up kinematic axis and space coordinate；
The kinematic axis is configured under LabVIEDSCW files and space coordinate obtains three-dimensional Dynamic Simulation Model
Step；And
Three-dimensional Dynamic Simulation Model is debugged and corrected.
On the other hand, the technical program also proposes a kind of simulator, is used to simulate execution with LabVIEW software environments
The action of robot with visual effect, including：
Receiving unit, model cootrol program and acquisition are created with calculating for obtaining under LabVIEDSCW softwares
The robot dynamic mathematical model based on MatLab software programmings is set up in the operating system of machine function；
Computing unit, with Solidworks software environments, for designing each according to the robot dynamic mathematical model
Original paper attribute simultaneously sets up three-dimensional STATIC SIMULATION model；
Simulation unit, with SoftMotion software environments, for obtain in real time by three-dimensional STATIC SIMULATION model with
Control program based on LabVIEDSCW software programmings associate and create contact it is final set up kinematic axis and space coordinate and
Configure the kinematic axis under LabVIEDSCW files and the step of space coordinate obtains three-dimensional Dynamic Simulation Model；And
Feedback unit, for three-dimensional Dynamic Simulation Model to be debugged and corrected.
Another aspect, the technical program proposes a kind of robot emulation system, including：
Computer system, is equipped with LabVIEW softwares, LabVIEDSCW softwares, MatLab softwares, Solidworks softwares
And SoftMotion softwares；
Embedded system, including embedded controller and the data acquisition device with embedded controller communication connection
And simulator；
Servo control card, for being connected with embedded controller, realizes the real-time control for receiving the embedded controller
Information processed；
Robot, the robot includes servomotor and robot motion's component, and the servomotor is used to receive described
The control information of servo motion card is to control the motion of robot motion's component；
And sensor cluster, for obtaining the motion state data of the robot and feeding back to institute through data collecting card
State embedded controller；
Wherein, embedded controller sends real-time control information according to the motion state data to servo control card
And transmit motion state data to adjust emulating image in real time to simulator according to motion state data；
The simulator has：
Receiving unit, model cootrol program and acquisition are created with calculating for obtaining under LabVIEDSCW softwares
The robot dynamic mathematical model based on MatLab software programmings is set up in the operating system of machine function；
Computing unit, with Solidworks software environments, for designing each according to the robot dynamic mathematical model
Original paper attribute simultaneously sets up three-dimensional STATIC SIMULATION model；
Simulation unit, with SoftMotion software environments, for obtain in real time by three-dimensional STATIC SIMULATION model with
Control program based on LabVIEDSCW software programmings associate and create contact it is final set up kinematic axis and space coordinate and
Configure the kinematic axis under LabVIEDSCW files and the step of space coordinate obtains three-dimensional Dynamic Simulation Model；And
Feedback unit, for three-dimensional Dynamic Simulation Model to be debugged and corrected.
Further, the sensor cluster includes position sensor and encoder, and the position sensor obtains described
The location status information of robot motion's component simultaneously feeds back to the embedded controller through data collecting card, and the encoder is obtained
Take the movement state information of the servomotor and the embedded controller is fed back to by data collecting card.
Further, the embedded controller connection display device.
Further, the establishment step of the robot dynamic mathematical model includes：
The step that joint of robot drives input trajectory is parsed according to manipulator shaft joint end orbit in MatLab softwares
Suddenly；
The step of by each axis joint track data combination operation；
The step of setting up robot dynamic mathematical model.
Further, the step of three-dimensional STATIC SIMULATION model is set up includes：
The step of each original paper attribute is designed according to the robot dynamic mathematical model under SolidWords software environments；
The step of each original paper is carried out assembling generation assembly by SolidWords softwares；
The step of defining assembly mechanical engagement；
Interference checking is carried out to assembly, assembly cooperation is carried out if not meeting and is redefined, three are exported if meeting
The step of tieing up virtual STATIC SIMULATION model.
The beneficial effects of the invention are as follows：
Technical scheme combine LabVIEW softwares, LabVIEDSCW softwares, MatLab softwares,
The advantage of Solidworks softwares and SoftMotion softwares, it is ensured that the real-time and authenticity of emulation, and cost compared with
It is low, highly versatile.
Brief description of the drawings
Fig. 1 is a kind of structural representation of robot emulation system of the invention；
Fig. 2 is a kind of schematic diagram of emulation mode；
Fig. 3 is a kind of software flow pattern of robot emulation system；
Fig. 4 is the structural representation of simulator.
Embodiment
Below with reference to accompanying drawing 1 to 4, the present invention is described further, but the protection of the present invention should not be limited with this
Scope..
Technical scheme, combine LabVIEW softwares, LabVIEDSCW softwares, MatLab softwares,
The advantage of Solidworks softwares and SoftMotion softwares, based on LabVIEW softwares, carries out robot simulation mould
Intend.It is adapted to the robot simulation of commercial Application.
Specifically, the robot emulation system of the present embodiment includes computer system 1, embedded system 2, servo motion
Control card 3, robot 4 and sensor cluster 5.Each simulation model and control program are designed by computer system 1, then
Embedded system 2 receives the simulation model and control program carries out the motion control of analogue simulation and robot 4.
Detailed computer system 1 can be preferably PC computers, the PC computers be equipped with LabVIEW softwares,
LabVIEDSCW softwares, MatLab softwares, Solidworks softwares and SoftMotion softwares；Needed by these software design patterns
The simulation model and control program wanted.Specifically, creating robot by the LabVIEDSCW softwares installed on PC computers
Model cootrol program；The robot dynamic mathematical model write on MatLab softwares；According to institute in Solidworks softwares
Robot dynamic mathematical model is stated to design each original paper attribute and set up three-dimensional STATIC SIMULATION model；It is soft by SoftMotion
Part in real time obtains that three-dimensional STATIC SIMULATION model is associated and created with control program and contacted, static then in conjunction with three-dimensional
Its kinematic axis of Building of Simulation Model and space coordinate；Most the data and control program of the kinematic axis and space coordinate are combined in fact at last
Existing dynamic control, completes the foundation of three-dimensional Dynamic Simulation Model.
Embedded system 2 is mainly used in realizing that the motion state of emulation and robot 4 is controlled, including embedded controller 21
And the data acquisition device 22 and simulator 23 communicated to connect with the embedded controller 21.
Servo control card 3, for being connected with embedded controller 21, realizes the reality for receiving the embedded controller 21
When control information；
Robot 4 includes servomotor 41 and robot motion's component 42, and the servomotor 41 is used to receive described watch
The control information of sports cards 3 is taken to control the motion of robot motion's component 42；
Sensor cluster 5, for obtaining the motion state data of the robot 4 and feeding back to institute through data collecting card 6
State embedded controller 21.
Wherein, embedded controller 21 sends real-time control according to the motion state data to servo control card 3
Information and motion state data is transmitted to adjust emulating image in real time to simulator 23 according to motion state data.It is specific next
Say, the sensor cluster 5 is used to obtain the real time kinematics status information of robot 4 and feeds back to embedded system 2, by embedded
System 2 come realize robot 4 real time kinematics control and three-dimensional Dynamic Simulation Model real-time simulation.In the present embodiment
In, robot motion's status information of feedback is to be transferred to embedded controller 21 in real time to be handled, to ensure this skill
The emulation real-time of art scheme.
Detailed, sensor cluster 5 includes position sensor 51 and encoder 52, and the position sensor 51 obtains described
The location status information of robot motion's component 42 simultaneously feeds back to the embedded controller 21 through data collecting card 6, described to compile
Code device 52 obtains the movement state information of the servomotor 41 and feeds back to the embedded controller by data collecting card 6
21.Position sensor 51 is defined as obtaining the displacement information and angular turn information of robot motion's component 42, encoder 52
The angle information that the displacement information of servomotor 41 can be obtained and rotated.The sensor cluster 5 is critically important, which ensure that emulation
Real-time effectiveness.
In the present embodiment, it is patterned display, i.e., embedded controller 21 connects display device 7, the display device 7
On the one hand three-dimensional Dynamic Simulation Model can be shown in real time, on the other hand being capable of operation display interface and display
The front panel information of LabVIEW softwares.
It should be noted that in the present embodiment, the foundation of the robot dynamic mathematical model comprises the following steps：
(for details, reference can be made to Fig. 3)
Joint of robot driving input trajectory is parsed according to manipulator shaft joint end orbit first in MatLab softwares；
Then by each axis joint track data combination operation；Finally set up robot dynamic mathematical model.During modeling, including
There are direct kinematics model, inverse kinematics model, forward dynamics model, the reverse kinetic model of each axis joint of robot
And the track of motion.These models set up will pass through the Matlab Robotic Toolbox instruments of MatLab softwares
Bag carries out analog simulation, to obtain the angle curve track of suitable each axis joint.
Specifically, the detailed step that the three-dimensional STATIC SIMULATION model is set up is including as follows：It is soft in SolidWords
Each original paper attribute is designed according to the robot dynamic mathematical model under part environment；Each original paper is carried out in SolidWords softwares
Assembling generation assembly；The step of defining assembly mechanical engagement；Interference checking is carried out to assembly, luggage is entered if not meeting
Part, which coordinates, to be redefined, and three-dimensional STATIC SIMULATION model is exported if meeting.Specifically, the utilization when carrying out interference checking
The function that SolidWords softwares are carried carries out interference checking, dynamic chek and static check can be carried out respectively, to ensure
To three-dimensional STATIC SIMULATION model be reliable.
Critically important, in the present embodiment, various data models and control program will be obtained and carried out by simulator 23
Display.In emulation, it is to input coherent signal progress emulation by embedded controller 21 to show.Detailed,
The simulator 23 has receiving unit 231, computing unit 232 and simulation unit 233 and feedback unit
234.The simulator 23 is based on LabVIEW software environments.Detailed, receiving unit, for obtaining in LabVIEDSCW softwares
Lower establishment model cootrol program and acquisition are set up in the operating system with computer function is based on MatLab software programmings
Robot dynamic mathematical model.I.e. in the present embodiment, the receiving unit 231 receive the model that weaves from PC computers and
Control program.Computing unit 232, with Solidworks software environments, for being set according to the robot dynamic mathematical model
Count each original paper attribute and set up three-dimensional STATIC SIMULATION model.Simulation unit 233, with SoftMotion software environments, is used
Three-dimensional STATIC SIMULATION model is associated and created with the control program based on LabVIEDSCW software programmings in real-time acquisition
Contact is final to set up kinematic axis and space coordinate and configures the kinematic axis under LabVIEDSCW files and space coordinate is obtained
To three-dimensional Dynamic Simulation Model；Feedback unit 234 receives the feedback information that embedded controller 21 is obtained, to three-dimensional
Dynamic Simulation Model is debugged and corrected.I.e. in the present embodiment, the motion state for the robot that sensor cluster 5 is obtained is real-time
Information by simulator 23 can be debugged and changed after the processing of embedded controller 21.For example, during emulation,
Control program under LabVIEDSCW files carries out, due to control application, creating robot with reference to the kinematic axis and space coordinate
Motion sorting track (with the use environment of the artificial sorting system of the machine), then shows the three-dimensional in display device 7 again
Virtual Dynamic Simulation Model；After sorting, calibration debugging optimization is carried out by feedback information, when these segmentation symbols match as robot prototype
Virtual emulation, sorting operation is proceeded if not meeting according to feedback information.
In the technical program, by combine LabVIEW softwares, LabVIEDSCW softwares, MatLab softwares,
The Real-time Feedback of Solidworks softwares, SoftMotion softwares and sensor group 5, it is ensured that the real-time of emulation and control
And authenticity.
The announcement and teaching of book according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and changed.Therefore, the invention is not limited in embodiment disclosed and described above, to the present invention's
Some modifications and changes should also be as falling into the scope of the claims of the present invention.Although in addition, being used in this specification
Some specific terms, but these terms are merely for convenience of description, do not constitute any limitation to the present invention.
Claims (7)
1. a kind of emulation mode, for performing the machine with visual effect in the embedded system simulation based on LabVIEW environment
The action of device people, it is characterised in that possess following steps：
Obtain the step of creating model cootrol program under LabVIEDSCW softwares；
The robot power mathematical modulo based on MatLab software programmings is set up in acquisition in the operating system with computer function
The step of type；
According to the robot power mathematical modulo under the Solidworks software environments of the operating system with computer function
The step of type designs each original paper attribute and sets up three-dimensional STATIC SIMULATION model；
SoftMotion softwares in embedded systems are obtained three-dimensional STATIC SIMULATION model with being based in real time
The control program of LabVIEDSCW software programmings associates and creates the step of contact is final to set up kinematic axis and space coordinate；
Configure the kinematic axis under LabVIEDSCW files and the step of space coordinate obtains three-dimensional Dynamic Simulation Model；
And
Three-dimensional Dynamic Simulation Model is debugged and corrected.
2. a kind of simulator, is used to simulate the action for performing the robot with visual effect with LabVIEW software environments
It is characterised in that it includes：
Receiving unit, model cootrol program and acquisition are created with computer work(for obtaining under LabVIEDSCW softwares
The robot dynamic mathematical model based on MatLab software programmings is set up in the operating system of energy；
Computing unit, with Solidworks software environments, for designing each original paper according to the robot dynamic mathematical model
Attribute simultaneously sets up three-dimensional STATIC SIMULATION model；
Simulation unit, with SoftMotion software environments, for obtaining in real time by three-dimensional STATIC SIMULATION model with being based on
The control program of LabVIEDSCW software programmings associate and create contact it is final set up kinematic axis and space coordinate and
Configure the kinematic axis under LabVIEDSCW files and the step of space coordinate obtains three-dimensional Dynamic Simulation Model；And
Feedback unit, for three-dimensional Dynamic Simulation Model to be debugged and corrected.
3. a kind of robot emulation system, it is characterised in that including：
Computer system, be equipped with LabVIEW softwares, LabVIEDSCW softwares, MatLab softwares, Solidworks softwares and
SoftMotion softwares；
Embedded system, including embedded controller and with the embedded controller communicate to connect data acquisition device and imitate
True device；
Servo control card, for being connected with embedded controller, realizes the real-time control letter for receiving the embedded controller
Breath；
Robot, the robot includes servomotor and robot motion's component, and the servomotor is used to receive the servo
The control information of sports cards is to control the motion of robot motion's component；
And sensor cluster, for obtaining the motion state data of the robot and being fed back to through data collecting card described embedding
Enter formula controller；
Wherein, embedded controller according to the motion state data to servo control card send real-time control information and
Transmit motion state data to adjust emulating image in real time to simulator according to motion state data；
The simulator has：
Receiving unit, model cootrol program and acquisition are created with computer work(for obtaining under LabVIEDSCW softwares
The robot dynamic mathematical model based on MatLab software programmings is set up in the operating system of energy；
Computing unit, with Solidworks software environments, for designing each original paper according to the robot dynamic mathematical model
Attribute simultaneously sets up three-dimensional STATIC SIMULATION model；
Simulation unit, with SoftMotion software environments, for obtaining in real time by three-dimensional STATIC SIMULATION model with being based on
The control program of LabVIEDSCW software programmings associate and create contact it is final set up kinematic axis and space coordinate and
Configure the kinematic axis under LabVIEDSCW files and the step of space coordinate obtains three-dimensional Dynamic Simulation Model；And
Feedback unit, for three-dimensional Dynamic Simulation Model to be debugged and corrected.
4. a kind of robot emulation system as claimed in claim 3, it is characterised in that：
The sensor cluster includes position sensor and encoder, and the position sensor obtains robot motion's component
Location status information and feed back to the embedded controller through data collecting card, the encoder obtains the servomotor
Movement state information and the embedded controller is fed back to by data collecting card.
5. a kind of robot emulation system as claimed in claim 3, it is characterised in that：
The embedded controller connects display device.
6. a kind of robot emulation system as claimed in claim 3, it is characterised in that：
The establishment step of the robot dynamic mathematical model includes：
The step of joint of robot driving input trajectory is parsed according to manipulator shaft joint end orbit in MatLab softwares；
The step of by each axis joint track data combination operation；
The step of setting up robot dynamic mathematical model.
7. a kind of robot emulation system as claimed in claim 6, it is characterised in that：
The step of three-dimensional STATIC SIMULATION model is set up includes：
The step of each original paper attribute is designed according to the robot dynamic mathematical model under SolidWords software environments；
The step of each original paper is carried out assembling generation assembly by SolidWords softwares；
The step of defining assembly mechanical engagement；
Interference checking is carried out to assembly, assembly cooperation is carried out if not meeting and is redefined, exports three-dimensional empty if meeting
The step of intending STATIC SIMULATION model.
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| CN112621757A (en) * | 2020-12-25 | 2021-04-09 | 河南大学 | Multi-joint robot dynamics simulation device and method |
| CN114442506A (en) * | 2021-12-06 | 2022-05-06 | 埃夫特智能装备股份有限公司 | Simulation debugging platform based on virtual robot controller and debugging method thereof |
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| CN107901037A (en) * | 2017-10-30 | 2018-04-13 | 北京精密机电控制设备研究所 | A kind of joint of robot modification methodology of dynamics model |
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| CN111046587A (en) * | 2019-12-27 | 2020-04-21 | 上海节卡机器人科技有限公司 | Robot simulation method and device, electronic equipment and storage medium |
| CN114619436A (en) * | 2020-12-08 | 2022-06-14 | 山东新松工业软件研究院股份有限公司 | EtherCAT-based six-axis robot control system test equipment and method thereof |
| CN112621757A (en) * | 2020-12-25 | 2021-04-09 | 河南大学 | Multi-joint robot dynamics simulation device and method |
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| CN114442506A (en) * | 2021-12-06 | 2022-05-06 | 埃夫特智能装备股份有限公司 | Simulation debugging platform based on virtual robot controller and debugging method thereof |
| CN115488876A (en) * | 2022-06-22 | 2022-12-20 | 湖北商贸学院 | Robot sorting method and device based on machine vision |
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Application publication date: 20171020 |