CN114442506A - Simulation debugging platform based on virtual robot controller and debugging method thereof - Google Patents
Simulation debugging platform based on virtual robot controller and debugging method thereof Download PDFInfo
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Abstract
The invention relates to the field of simulation robot integrated plates, in particular to a simulation debugging platform based on a virtual robot controller and a debugging method thereof, wherein the platform specifically comprises the following components: the method comprises the following steps of integrating a development environment platform, a virtual robot controller and a can type basic peripheral unit: s1, editing and debugging robot codes through the integrated development environment platform to generate an executable program controlled by the robot; s2, at the service program layer, a network service program is used to receive the data packet sent by IDE; s3, in the operation layer, calling a robot motion control algorithm; s4, debugging the robot program on line in the virtual robot controller; s5, executing data information by the receiving robot; by designing an integrated development environment platform and a virtual robot controller class, an intelligent system for simulating and debugging the robot is realized at a lower hardware cost, and a robot program is edited, debugged and operated by simulating an entity robot in a 3D mode on the integrated development environment platform.
Description
Technical Field
The invention relates to the field of simulation robot integrated plates, in particular to a simulation debugging platform based on a virtual robot controller and a debugging method thereof.
Background
On one hand, the expensive cost of the robot hinders further research of students and related enthusiasts; on the other hand, under the development of the current form, the development trend of the robot industry is strong. Therefore, the intelligent system which is low in hardware cost and convenient to debug is invented, and has positive practical significance.
The invention aims to provide a simulation debugging technology based on a virtual robot controller, which is an intelligent system for realizing the simulation debugging of a robot by designing an integrated development environment platform and the virtual robot controller, wherein the integrated development environment is IDE, and the system can simulate a physical robot in a 3D mode on the integrated development environment platform, edit, debug and run a robot program, and can also carry out simulation debugging in the virtual robot controller to realize the debugging in a simulation environment. The invention greatly saves hardware cost, improves the efficiency of robot development, and is an innovative and defensive invention in the field of intelligent robot energy.
In the prior art, after a robot program is designed, debugging is carried out in a robot controller, and then debugging is carried out by observing output feedback of the robot. For example, the invention patent of 'an implementation method and a system of industrial robot controller software' with Chinese patent application number of 202011183681.1, the method implements the industrial robot controller software according to 4 layers; the invention patent of "an industrial robot controller operation system" as the chinese patent application No. 202010249409.2 includes an operation management layer, a service processing layer and a hardware interface layer;
in the prior art, a simulation debugging technology for realizing the simulation of the robot controller with lower hardware cost by reasonably designing the combination of an integrated development environment platform and a simulator is not available for a while, the technology can be used for carrying out simulation debugging in a virtual robot controller, and can also be used for simulating a real robot in real time by seeing a 3D simulation interface on the integrated development environment platform according to the simulation debugging.
Disclosure of Invention
In order to solve the problems, the invention provides a simulation debugging platform based on a virtual robot controller and a debugging method thereof.
A simulation debugging platform based on a virtual robot controller comprises:
the integrated development environment platform is used for simulating the action behaviors of the entity robot in real time and realizing the bidirectional transmission of information data;
the virtual robot controller simulates the internal functions of the hardware of the robot controller by software so as to realize the simulation of the physical robot;
the can type basic peripheral unit provides an interaction interface with external equipment;
and a GDB debugging unit is integrated inside, and robot programs are debugged on line to diagnose errors.
The integrated development environment platform comprises an editing layer, a debugging layer and an operating layer.
The editing layer comprises functions of grammar highlight, code completion and automatic prompt.
The debugging layer comprises single step tracking, memory reading and writing and port reading and writing functions.
The operation layer comprises the functions of motion simulation, controller simulation and network monitoring.
The editing layer and the debugging layer are used for designing and debugging the robot program, and the running layer simulates motion simulation through a PC.
A joint variable solving algorithm, robot track tracking and path planning algorithm classes based on the robot inverse kinematics theory are built in the virtual robot controller.
The joint variable solving algorithm based on the robot inverse kinematics theory can be applied to solving the joint variables of isomorphic or heterogeneous robots.
A debugging method based on a virtual robot controller simulation debugging platform comprises the following specific steps:
s1, editing and debugging robot codes through the integrated development environment platform to generate an executable program controlled by the robot;
s2, at a service program layer, receiving a data packet sent by the integrated development environment through a network service program, and calling an algorithm library to design the robot motion control;
s3, in the operation layer, calling a robot motion control algorithm to form a robot motion control scheme, a robot control task and a motion track class;
s4, debugging a robot program on line in the virtual robot controller, simulating an entity robot controller, and storing and transmitting robot execution data information to an integrated development environment platform;
and S5, displaying the robot motion control in real time on a 3D interface of the integrated development environment platform by receiving the robot execution data information.
The invention has the beneficial effects that: the intelligent system for realizing the simulation debugging of the robot with lower hardware cost by designing the integrated development environment platform and the virtual robot controller can simulate the entity robot in 3D of the integrated development environment platform, edit, debug and run a robot program, and can also simulate and debug in the virtual robot controller to realize the debugging in the simulation environment. The invention greatly saves hardware cost, improves the robot development efficiency, and is an innovative invention in the field of intelligent robot energy.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a platform structure according to the present invention;
FIG. 2 is a schematic diagram of a flow method structure according to the present invention.
Detailed Description
The present invention will be further described in order to make the technical means, the creation characteristics, the achievement purposes and the effects of the present invention easy to understand.
As shown in fig. 1 and 2, a virtual robot controller simulation-based debugging platform includes:
the integrated development environment platform is used for simulating the action behaviors of the entity robot in real time and realizing the bidirectional transmission of information data;
the virtual robot controller simulates the internal functions of the hardware of the robot controller by software so as to realize the simulation of the physical robot;
the can type basic peripheral unit provides an interface for interacting with external equipment, and simulates the internal functions of the hardware of the robot controller by software so as to realize the simulation of the entity robot;
and a GDB debugging unit is integrated inside, and robot programs are debugged on line to diagnose errors.
The integrated development environment platform comprises an editing layer, a debugging layer and an operating layer.
The editing layer comprises functions of grammar highlight, code completion and automatic prompt.
The debugging layer comprises single step tracking, memory reading and writing and port reading and writing functions.
The operation layer comprises the functions of motion simulation, controller simulation and network monitoring.
The editing layer and the debugging layer are used for designing and debugging the robot program, and the running layer simulates motion simulation through a PC.
The virtual robot controller is internally provided with a joint variable solving algorithm, a robot track tracking algorithm and a path planning algorithm based on the inverse kinematics theory of the robot, so that the motion control of the robot is realized.
The joint variable solving algorithm based on the robot inverse kinematics theory can be applied to solving the joint variables of isomorphic or heterogeneous robots.
The intelligent system for realizing the simulation debugging of the robot with lower hardware cost by designing the integrated development environment platform and the virtual robot controller can simulate the entity robot in 3D of the integrated development environment platform, edit, debug and run a robot program, and can also simulate and debug in the virtual robot controller to realize the debugging in the simulation environment. The invention greatly saves hardware cost, improves the robot development efficiency, and is an innovative invention in the field of intelligent robot energy.
A debugging method based on a virtual robot controller simulation debugging platform comprises the following specific steps:
s1, editing and debugging the robot code through the integrated development environment platform to generate an executable program for robot control: compiling a robot program code in an integrated development environment, compiling and outputting the code to an entity robot, executing the program by the robot, and realizing the motion control expected to the robot in the program code;
s2, at the service program layer, a network service program is used for receiving the data packet sent by the integrated development environment and calling the algorithm library to design the robot motion control: the virtual robot controller is communicated with the ink fountain integrated development environment, the virtual robot controller has the same function as an entity robot, replaces the entity robot and can be debugged on line, and real-time diagnosis and debugging of a robot program are realized, the problem is quickly tracked, and the constraint of hardware is eliminated through the on-line debugging of the integration level GDB of the virtual robot controller;
s3, in the operation layer, calling a robot motion control algorithm to form a robot motion control scheme, a robot control task and a motion track class, specifically:
using inverse kinematics equations:
P＝f(qi)
wherein P represents the pose of the robot end effector, qiRepresenting the various joint variables of the robot. Calculating all joint variables of the corresponding positions of the robot by using the poses of the known actuators; because the robot has isomorphic or heterogeneous differences, the robot motion algorithm is correspondingly improved on the basis of inverse kinematics, so that the universality of the robot motion algorithm is stronger, the flexible operation of the isomorphic or heterogeneous robot is realized, and the precision of solving joint variables is improved;
therefore, a fitness function is established in an arm-wrist separation mode:
fp＝||Pdes-Pcur||
fq＝||xdes-xcur||
wherein f ispIs a target position PdesAnd the actual position PcurError between fqIs a target attitude xdesWith the actual attitude xcurThe error between. Meanwhile, a PSO (group optimization particle) algorithm is improved, and a shrinkage learning factor is introduced:
wherein, c1+c2Is more than 4; solving the inverse kinematics equation by using the improved PSO algorithm can obtain a better solution and solve the problem of solving difference between isomorphic or heterogeneous robots;
s4, debugging a robot program on line in the virtual robot controller, simulating an entity robot controller, and storing and transmitting robot execution data information to an integrated development environment platform;
and S5, displaying the robot motion control in real time on a 3D interface of the integrated development environment platform by receiving the robot execution data information.
And the integrated development environment platform in the step S2 interacts with the virtual robot controller, so that the integrated development environment and the virtual robot controller are combined, the robot program is debugged, and the constraint of hardware is eliminated.
The virtual robot controller is a debugging core of the whole system, the simulation of the behavior of the entity robot is realized in the simulator, the specific parameters of the robot are fed back to the integrated development environment platform, and the debugging and error diagnosis of the robot program can be realized through the debugging of the GDB in the simulator.
The integrated development environment platform can complete the codes of the robot, automatically prompt the functions and improve the development efficiency of developers; the PC can simulate the entity robot, simulate the entity robot in real time and provide a visual interface, so that developers can know the motion of the robot more intuitively.
An independent integrated development environment platform and a virtual robot controller system are respectively constructed, and a set of novel and complete robot control solution is formed by combining the integrated development environment and the virtual robot controller.
A virtual robot controller software system framework is constructed, a new virtual robot controller design scheme is provided, and a GDB debugging method is fused on the basis, so that real-time online debugging and diagnosis of a robot program are realized.
And combining an inverse kinematics equation of the robot, establishing a corresponding adaptive function by utilizing errors between an actual position and an actual attitude and between a target position and an actual attitude, introducing a contraction factor to improve a PSO (particle swarm optimization), namely a swarm optimization particle algorithm, and providing a robot motion scheme for solving isomorphic and heterogeneous robots.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a based on virtual machine people controller emulation debugging platform which characterized in that: the method comprises the following steps:
the integrated development environment platform is used for simulating the action behaviors of the entity robot in real time and realizing the bidirectional transmission of information data;
the virtual robot controller simulates the internal functions of the hardware of the robot controller by software so as to realize the simulation of the physical robot;
the can type basic peripheral unit provides an interaction interface with external equipment;
and a GDB debugging unit is integrated inside, and robot programs are debugged on line to diagnose errors.
2. The virtual robot controller simulation-based debugging platform according to claim 1, characterized in that: the integrated development environment platform comprises an editing layer, a debugging layer and an operating layer.
3. The virtual robot controller simulation debugging platform based on claim 2, characterized in that: the editing layer comprises functions of grammar highlight, code completion and automatic prompt.
4. The virtual robot controller simulation-based debugging platform according to claim 3, characterized in that: the debugging layer comprises single step tracking, memory reading and writing and port reading and writing functions.
5. The virtual robot controller simulation debugging platform based on claim 4, characterized in that: the operation layer comprises the functions of motion simulation, controller simulation and network monitoring.
6. The virtual robot controller simulation-based debugging platform according to claim 5, characterized in that: the editing layer and the debugging layer are used for designing and debugging the robot program, and the running layer simulates motion simulation through a PC.
7. The virtual robot controller simulation-based debugging platform according to claim 1, characterized in that: a joint variable solving algorithm, robot track tracking and path planning algorithm classes based on the robot inverse kinematics theory are built in the virtual robot controller.
8. The virtual robot controller simulation-based debugging platform according to claim 7, characterized in that: the joint variable solving algorithm based on the robot inverse kinematics theory can be applied to solving the joint variables of isomorphic or heterogeneous robots.
9. The debugging method based on the virtual robot controller simulation debugging platform of any one of claims 1 to 8, characterized in that: the method comprises the following specific steps:
s1, editing and debugging robot codes through the integrated development environment platform to generate an executable program controlled by the robot;
s2, at the service program layer, a network service program is used for receiving the data packet sent by the IDE and calling the algorithm library to design the robot motion control;
s3, in the operation layer, calling a robot motion control algorithm to form a robot motion control scheme, a robot control task and a motion track class;
s4, debugging a robot program on line in the virtual robot controller, simulating an entity robot controller, and storing and transmitting robot execution data information to an integrated development environment platform;
and S5, displaying the robot motion control in real time on a 3D interface of the integrated development environment platform by receiving the robot execution data information.
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