CN116400612A - Comprehensive integrated simulation system of foot type robot - Google Patents
Comprehensive integrated simulation system of foot type robot Download PDFInfo
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Abstract
The invention discloses a comprehensive integrated simulation system of a foot robot, which comprises an ROS upper computer module, a Simulink-RealTime lower computer module and a multifunctional board card module; the ROS upper computer module runs an open source robot operating system, a node manager of the open source robot operating system, 3D visual software and open source robot simulation software; the Simulink upper computer module runs Simulink and AMEsim; the Simulink lower computer module runs a Simulink Real-Time system; the multifunctional board card module is used as an input/output module to realize A/D & D/A acquisition and output. The invention realizes information interaction among a plurality of platforms, opens up simulation flows among all subsystems of the robot and between the subsystems and the whole machine, and can simultaneously realize virtual model simulation, rapid control prototype simulation and hardware-in-the-loop simulation of the robot.
Description
Technical Field
The invention belongs to the field of robot simulation, and particularly relates to a comprehensive integrated simulation system of a foot-type robot.
Background
The hydraulic quadruped robot is used as complex system level equipment and consists of servo actuators, power sources, motion control, sensing and decision-making systems, and because different sub-systems have different key technologies, independent or interactive simulation work of a large number of sub-systems and a complete machine can be involved, and how to interact among different simulations so as to ensure the efficiency and accuracy of product research and development is a problem to be solved urgently in the field of robot product development.
The foot-type robot simulation relates to two aspects of virtual model simulation and semi-physical simulation. The virtual model simulation is to build a virtual model of the controlled object on the computer platform, and simulate the characteristics of the controlled object and a control algorithm by applying instruction signals. The pure virtual simulation can not accurately simulate the real environment, the semi-physical simulation comprises a virtual model in the application of a simulation system and is connected with real hardware equipment, the simulation is completed by mutual cooperation, and the semi-physical simulation system for physical debugging and testing can separate algorithm development and software and hardware development, so that the semi-physical simulation system is necessary in the development of robot technology. According to different classifications of access real hardware equipment, semi-physical simulation can be divided into rapid control prototype simulation and hardware-in-loop simulation. The robot semi-physical simulation mainly relates to a servo system, a motion control system and a perception decision system semi-physical simulation. On one hand, the development of the robot technology is usually accompanied with the multi-round iteration development of the control algorithm, the development of software and hardware is usually lagged, the development cost is high, the universality is poor, and the requirement of multi-round rapid iteration of the algorithm cannot be met, so that the rapid control prototype simulation separates the development of the robot algorithm from the development of the software and the hardware of the controller by applying a virtual controller to control a real controlled object. On the other hand, the normal operation of the foot robot depends on the effective interaction of the servo system, the motion control system and the perception decision system, and the joint debugging of the servo system, the motion control system and the perception decision system controller by taking a robot prototype as a controlled object has the disadvantages of low efficiency and high risk, so that the joint debugging of the motion control system and the perception decision system controller is supported by taking a robot virtual model as the controlled object through hardware in loop simulation. The foot robot as a complex system level equipment faces a large number of simulation works of different methods in different fields, and no related system can effectively solve the simulation problem at the present stage.
Disclosure of Invention
The invention aims to provide a comprehensive integrated simulation system of a foot-type robot, which can realize effective interconnection among all subsystems of the robot and between the subsystems and a complete machine by opening up interaction interfaces among all subsystems, can realize three functions of virtual model simulation, rapid control prototype simulation and hardware-in-the-loop simulation, and can fully cover the simulation requirement of the robot.
The technical solution for realizing the purpose of the invention is as follows: the integrated simulation system comprises an ROS upper computer module, a Simulink-RealTime lower computer module and a multifunctional board card module;
the ROS upper computer module runs an open source robot operating system ROS, a node manager of the ROS upper computer module, 3D visual software and open source robot simulation software; the module is used for foot robot motion control virtual model simulation, perception decision virtual model simulation, motion control-perception decision virtual model simulation, rapid control prototype simulation as a virtual decision controller and hardware-in-loop simulation of the decision controller as an upper computer;
the Simulink upper computer module runs Simulink and AMEsim; the module is used for robot actuator virtual model simulation, power source virtual model simulation, actuator-motion control virtual model simulation, servo control rapid control prototype simulation as an upper computer, motion control-perception decision rapid control prototype simulation as an intermediate data visualization and adjustment point, servo controller hardware in-loop simulation as an upper computer, motion controller hardware in-loop simulation as an upper computer, and motion controller-perception decision controller hardware in-loop simulation as an intermediate data visualization and adjustment point;
the Simulink lower computer module runs a Simulink Real-Time system; the module runs a real-time program of a Simulink upper computer module, and is used as a virtual servo controller to carry out servo control rapid control prototype simulation, a virtual motion controller to carry out motion control-perception decision rapid control prototype simulation, a lower computer to carry out servo controller hardware in-loop simulation, a lower computer to carry out motion controller hardware in-loop simulation, and a lower computer to carry out motion controller-perception decision controller hardware in-loop simulation;
the multifunctional board card module is used as an input/output module to realize A/D & D/A acquisition and output, is provided with a CAN bus and an EtherCAT bus communication interface, and is connected with the Simulink lower computer module to perform data acquisition and output.
Compared with the prior art, the invention has the remarkable advantages that: the invention provides a comprehensive integrated robot simulation system and strategy, which utilizes four modules and a joint simulation middleware to realize information interaction among a plurality of platforms, opens up simulation flows among all subsystems of a robot, can realize virtual model simulation, rapid control prototype simulation and hardware-in-loop simulation of the robot at the same time, and compared with other robot simulation systems, innovatively introduces semi-physical simulation functions of a perception and decision layer, covers the complete simulation requirements in the development process of the robot technology, has the advantages of high universality and low cost on the basis of clear division, clear thought and feasibility, and has important practical application value in the development of the robot technology.
Drawings
FIG. 1 is a strategy block diagram of a comprehensive integrated simulation method of a foot robot of the invention.
FIG. 2 is a flow chart of a virtual model simulation strategy according to the present invention.
FIG. 3 is a flow chart of the rapid control prototype simulation strategy of the present invention.
FIG. 4 is a block diagram of a hardware-in-the-loop simulation strategy flow of the present invention.
Detailed Description
For a better understanding of the technical solution of the present invention, the following detailed description of the present invention refers to the accompanying drawings.
Referring to FIG. 1, the invention provides a comprehensive integrated simulation system of a foot robot, which comprises an ROS upper computer module, a Simulink-RealTime lower computer module and a multifunctional board card module;
the ROS upper computer module runs an open source robot operating system ROS (robot operating system) and a node manager ROS Master, 3D visualization software Rviz and open source robot simulation software Gazebo. The module is used for foot robot motion control virtual model simulation, perception decision virtual model simulation, motion control-perception decision virtual model simulation, rapid control prototype simulation as a virtual decision controller and hardware-in-loop simulation as an upper computer.
The Simulink upper computer module runs Simulink and amesims. The module is used for robot actuator virtual model simulation, power source virtual model simulation, actuator-motion control virtual model simulation, servo control rapid control prototype simulation as an upper computer, motion control-perception decision rapid control prototype simulation as an intermediate data visualization and adjustment point, servo controller hardware in-loop simulation as an upper computer, motion controller hardware in-loop simulation as an upper computer, and motion controller-perception decision controller hardware in-loop simulation as an intermediate data visualization and adjustment point.
The Simulink lower computer module runs a Simulink Real-Time system. The module runs a real-time program of the Simulink upper computer module, and is used as a virtual servo controller to carry out servo control rapid control prototype simulation, a virtual motion controller to carry out motion control-perception decision rapid control prototype simulation, a lower computer to carry out servo controller hardware in-loop simulation, a lower computer to carry out motion controller hardware in-loop simulation, and a lower computer to carry out motion controller-perception decision controller hardware in-loop simulation.
The multifunctional board card module is used as an input/output module to realize A/D & D/A acquisition and output, is provided with bus communication interfaces such as CAN buses and EtherCAT, and is connected with the Simulink lower computer module to acquire and output data.
The strategy comprises an actuator-power source virtual model simulation process, and the specific mode is as follows: setting up an actuator dynamics model and a servo control algorithm based on the Simulink in a Simulink upper computer module, setting up a power source pump valve pipeline model based on the AMEsim in the Simulink upper computer module, outputting actuator displacement, speed and force data to the power source pump valve pipeline model based on the AMEsim after inputting instructions, and feeding back power source pressure and flow data to the actuator dynamics model based on the Simulink and the servo control algorithm after simulation by the power source pump valve pipeline model based on the AMEsim, wherein simulation data are unified in the Simulink for visual processing.
The strategy comprises an actuator-motion control virtual model simulation process, and the specific mode is as follows: a foot robot virtual model is built based on Gazebo in an ROS upper computer module, an actuator dynamic model and a servo control algorithm are built based on Simulink in a Simulink upper computer module, and a motion control algorithm is built based on Simulink in the Simulink upper computer module. And connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Gazebo joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module. The motion control algorithm and the servo control algorithm based on the Simulink in the Simulink upper computer module output actuator displacement, speed and force data to the foot-type robot virtual model based on Gazebo in the ROS upper computer module after inputting instructions, and the joint angle, the angular speed and the joint moment are fed back to the motion control algorithm and the servo control algorithm based on the Simulink after being simulated by the foot-type robot virtual model based on Gazebo, and simulation data are unified in the Simulink to be subjected to visual processing.
The strategy comprises a motion control-perception decision virtual model simulation process, and the specific mode is as follows: the robot sensing and decision algorithm is built based on the ROS in the ROS upper computer module, and the motion control algorithm is built based on the Simulink in the Simulink upper computer module. And connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Rviz joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module. The sensing and decision algorithm based on the ROS in the ROS upper computer module outputs a robot centroid track to the motion control algorithm based on the Simulink in the Simulink upper computer module after inputting an instruction, and the joint angle, the angular velocity and the joint moment are fed back to the foot-type robot virtual model based on Rviz after being simulated by the motion control algorithm based on the Simulink. The motion control simulation data is subjected to visualization processing in a Simulink, and the perception decision simulation data is subjected to visualization processing in an Rviz.
The strategy comprises servo control rapid control prototype simulation, and the specific mode is as follows: a servo control algorithm is built on the basis of the Simulink in a Simulink upper computer module, the Simulink upper computer module is connected with a Simulink lower computer module through a TCP/IP protocol, the Simulink Real-Time system is utilized to download the servo control algorithm built on the basis of the Simulink in the Simulink upper computer module to the Simulink lower computer module, an actuator model is connected with the Simulink lower computer module through a multifunctional board card module, at the moment, the Simulink lower computer module serves as a virtual servo controller, and simulation data are visualized in the Simulink upper computer module.
The strategy comprises a motion control rapid control prototype simulation, and the specific mode is as follows: and the motion control algorithm is built on the basis of the Simulink in the Simulink upper computer module, the Simulink upper computer module is connected with the Simulink lower computer module through a TCP/IP protocol, the motion control algorithm built on the basis of the Simulink in the Simulink upper computer module is downloaded to the Simulink lower computer module by utilizing a Simulink Real-Time system, the foot robot model is connected with the Simulink lower computer module through the multifunctional board card module, at the moment, the Simulink lower computer module is used as a virtual motion controller, and simulation data are subjected to visual processing in the Simulink upper computer module.
The strategy comprises motion control-perception decision rapid control prototype simulation, and the specific mode is as follows: the robot sensing and decision algorithm is built based on the ROS in the ROS upper computer module, and the motion control algorithm is built based on the Simulink in the Simulink upper computer module. And connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Rviz joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module. The method comprises the steps that a Simulink upper computer module is connected with a Simulink lower computer module through a TCP/IP protocol, a Simulink Real-Time system is utilized to download a motion control algorithm built on the basis of Simulink in the Simulink upper computer module to the Simulink lower computer module, a foot-type robot model machine is connected with the Simulink lower computer module through a multifunctional board card module, at the moment, the Simulink lower computer module serves as a virtual motion controller, the ROS upper computer module serves as a virtual perception decision controller, the Simulink upper computer serves as an intermediate data visualization and adjustment node, motion control simulation data are subjected to visualization processing in the Simulink, and perception decision simulation data are subjected to visualization processing in Rviz.
The strategy comprises a servo controller hardware-in-loop simulation mode: setting up an actuator dynamics model based on the Simulink in a Simulink upper computer module, connecting the Simulink upper computer module with a Simulink lower computer module through a TCP/IP protocol, downloading the actuator dynamics model based on the Simulink in the Simulink upper computer module to the Simulink lower computer module by using a Simulink Real-Time system, connecting a servo controller machine with the Simulink lower computer module through a multifunctional board card module, and at the moment, taking the Simulink upper computer module as an upper computer of a servo controller to send instructions to the servo controller, and carrying out visual processing on simulation data in the Simulink upper computer module.
The strategy comprises a motion controller hardware in-loop simulation, and the specific mode is as follows: and building a foot robot virtual model based on Gazebo in the ROS upper computer module, and building an intermediate node program based on Simulink in the Simulink upper computer module. And connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Gazebo joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module. The method comprises the steps that a Simulink upper computer module is connected with a Simulink lower computer module through a TCP/IP protocol, an intermediate node program built based on Simulink in the Simulink upper computer module is downloaded to the Simulink lower computer module by using a Simulink Real-Time system, a motion controller model machine is connected with the Simulink lower computer module through a multifunctional board card module, at the moment, the Simulink upper computer is used as an intermediate node to perform data visualization and parameter adjustment, motion control simulation data are subjected to visualization processing in the Simulink, and perception decision simulation data are subjected to visualization processing in Rviz.
The strategy comprises motion controller-decision controller hardware in-loop simulation, and the specific mode is as follows: and constructing a foot robot virtual model and an external environment virtual model thereof based on Rviz in the ROS upper computer module, and constructing an intermediate node program based on Simulink in the Simulink upper computer module. And connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Gazebo joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module. The method comprises the steps that a Simulink upper computer module is connected with a Simulink lower computer module through a TCP/IP protocol, an intermediate node program built based on Simulink in the Simulink upper computer module is downloaded to the Simulink lower computer module by using a Simulink Real-Time system, a motion controller model machine is connected with the Simulink lower computer module through a multifunctional board card module, a decision controller is connected with an ROS upper computer module, at the moment, the Simulink upper computer is used as an intermediate node for data visualization and parameter adjustment, motion control simulation data are subjected to visualization processing in the Simulink, and perception decision simulation data are subjected to visualization processing in Rviz.
The present embodiment describes the policies in further detail:
referring to fig. 2, the flow sequence of the simulation strategy of the actuator-power source virtual model is as follows: a- > B- > E- > H, wherein the actuator-motion control virtual model simulation strategy flow sequence is as follows: a- > C- > E- > F- > I, wherein the motion control-perception decision virtual model simulation strategy flow sequence is as follows: c- > D- > F- > G- > I- > J.
Referring to fig. 3, the flow sequence of the servo control rapid control prototype simulation strategy is as follows: e- > K- > L, wherein the sequence of the motion control rapid control prototype simulation strategy flow is as follows: e- > F- > K- > L- > M, and the motion control-perception decision rapid control prototype simulation strategy flow sequence is E- > F- > G- > I- > J- > K- > L- > M.
Referring to fig. 4, the flow sequence of the loop simulation strategy of the hardware of the servo controller is as follows: n- > K- > A, the motion controller hardware in-loop simulation strategy flow sequence is: o- > K- > I- > C, wherein the motion control-perception decision rapid control prototype simulation strategy flow sequence is P- > O- > K- > I- > J- > C- > D.
The foregoing is merely illustrative of the principles and advantages of the present invention, and it will be apparent to those skilled in the art that the invention is not limited to the above embodiments, but may be modified or varied in different embodiments without departing from the spirit and scope of the invention.
Claims (10)
1. The comprehensive integrated simulation system of the foot robot is characterized by comprising an ROS upper computer module, a Simulink-RealTime lower computer module and a multifunctional board card module;
the ROS upper computer module runs an open source robot operating system ROS, a node manager of the ROS upper computer module, 3D visual software and open source robot simulation software; the module is used for foot robot motion control virtual model simulation, perception decision virtual model simulation, motion control-perception decision virtual model simulation, rapid control prototype simulation as a virtual decision controller and hardware-in-loop simulation of the decision controller as an upper computer;
the Simulink upper computer module runs Simulink and AMEsim; the module is used for robot actuator virtual model simulation, power source virtual model simulation, actuator-motion control virtual model simulation, servo control rapid control prototype simulation as an upper computer, motion control-perception decision rapid control prototype simulation as an intermediate data visualization and adjustment point, servo controller hardware in-loop simulation as an upper computer, motion controller hardware in-loop simulation as an upper computer, and motion controller-perception decision controller hardware in-loop simulation as an intermediate data visualization and adjustment point;
the Simulink lower computer module runs a Simulink Real-Time system; the module runs a real-time program of a Simulink upper computer module, and is used as a virtual servo controller to carry out servo control rapid control prototype simulation, a virtual motion controller to carry out motion control-perception decision rapid control prototype simulation, a lower computer to carry out servo controller hardware in-loop simulation, a lower computer to carry out motion controller hardware in-loop simulation, and a lower computer to carry out motion controller-perception decision controller hardware in-loop simulation;
the multifunctional board card module is used as an input/output module to realize A/D & D/A acquisition and output, is provided with a CAN bus and an EtherCAT bus communication interface, and is connected with the Simulink lower computer module to perform data acquisition and output.
2. The integrated simulation system of a foot robot according to claim 1, wherein the actuator-power source virtual model simulation is specifically: setting up an actuator dynamics model and a servo control algorithm based on the Simulink in a Simulink upper computer module, setting up a power source pump valve pipeline model based on the AMEsim in the Simulink upper computer module, outputting actuator displacement, speed and force data to the power source pump valve pipeline model based on the AMEsim after inputting instructions, and feeding back power source pressure and flow data to the actuator dynamics model based on the Simulink and the servo control algorithm after simulation by the power source pump valve pipeline model based on the AMEsim, wherein simulation data are unified in the Simulink for visual processing.
3. The integrated simulation system of a foot robot according to claim 1, wherein the actuator-motion control virtual model simulation is specifically: building a foot robot virtual model based on Gazebo in an ROS upper computer module, building an actuator dynamic model and a servo control algorithm based on Simulink in a Simulink upper computer module, and building a motion control algorithm based on Simulink in the Simulink upper computer module; connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Gazebo joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module; the motion control algorithm and the servo control algorithm based on the Simulink in the Simulink upper computer module output actuator displacement, speed and force data to the foot-type robot virtual model based on Gazebo in the ROS upper computer module after inputting instructions, and the joint angle, the angular speed and the joint moment are fed back to the motion control algorithm and the servo control algorithm based on the Simulink after being simulated by the foot-type robot virtual model based on Gazebo, and simulation data are unified in the Simulink to be subjected to visual processing.
4. The integrated simulation system of the foot robot according to claim 1, wherein the motion control-perception decision virtual model simulation process specifically comprises: building a foot-type robot virtual model and an external environment virtual model thereof based on Rviz in an ROS upper computer module, building a robot perception and decision algorithm based on ROS in the ROS upper computer module, and building a motion control algorithm based on Simulink in a Simulink upper computer module; connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Rviz joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module; the sensing and decision algorithm based on the ROS in the ROS upper computer module outputs a robot centroid track to the motion control algorithm based on the Simulink in the Simulink upper computer module after inputting an instruction, and the joint angle, the angular velocity and the joint moment are fed back to the foot-type robot virtual model based on Rviz after being simulated by the motion control algorithm based on the Simulink; the motion control simulation data is subjected to visualization processing in a Simulink, and the perception decision simulation data is subjected to visualization processing in an Rviz.
5. The integrated simulation system of a foot robot according to claim 1, wherein the servo control rapid control prototype simulation is specifically: a servo control algorithm is built on the basis of the Simulink in a Simulink upper computer module, the Simulink upper computer module is connected with a Simulink lower computer module through a TCP/IP protocol, the Simulink Real-Time system is utilized to download the servo control algorithm built on the basis of the Simulink in the Simulink upper computer module to the Simulink lower computer module, an actuator model is connected with the Simulink lower computer module through a multifunctional board card module, at the moment, the Simulink lower computer module serves as a virtual servo controller, and simulation data are visualized in the Simulink upper computer module.
6. The integrated simulation system of a foot robot according to claim 1, wherein the motion control rapid control prototype simulation is specifically: and the motion control algorithm is built on the basis of the Simulink in the Simulink upper computer module, the Simulink upper computer module is connected with the Simulink lower computer module through a TCP/IP protocol, the motion control algorithm built on the basis of the Simulink in the Simulink upper computer module is downloaded to the Simulink lower computer module by utilizing a Simulink Real-Time system, the foot robot model is connected with the Simulink lower computer module through the multifunctional board card module, at the moment, the Simulink lower computer module is used as a virtual motion controller, and simulation data are subjected to visual processing in the Simulink upper computer module.
7. The integrated simulation system of the foot robot according to claim 1, wherein the motion control-perception decision rapid control prototype simulation is implemented by the following specific steps: building a foot-type robot virtual model and an external environment virtual model thereof based on Rviz in an ROS upper computer module, building a robot perception and decision algorithm based on ROS in the ROS upper computer module, and building a motion control algorithm based on Simulink in a Simulink upper computer module; connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Rviz joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module; the method comprises the steps that a Simulink upper computer module is connected with a Simulink lower computer module through a TCP/IP protocol, a Simulink Real-Time system is utilized to download a motion control algorithm built on the basis of Simulink in the Simulink upper computer module to the Simulink lower computer module, a foot-type robot model machine is connected with the Simulink lower computer module through a multifunctional board card module, at the moment, the Simulink lower computer module serves as a virtual motion controller, the ROS upper computer module serves as a virtual perception decision controller, the Simulink upper computer serves as an intermediate data visualization and adjustment node, motion control simulation data are subjected to visualization processing in the Simulink, and perception decision simulation data are subjected to visualization processing in Rviz.
8. The integrated simulation system of the foot robot according to claim 1, wherein the servo controller hardware in-loop simulation specifically comprises: setting up an actuator dynamics model based on the Simulink in a Simulink upper computer module, connecting the Simulink upper computer module with a Simulink lower computer module through a TCP/IP protocol, downloading the actuator dynamics model based on the Simulink in the Simulink upper computer module to the Simulink lower computer module by using a Simulink Real-Time system, connecting a servo controller machine with the Simulink lower computer module through a multifunctional board card module, and at the moment, taking the Simulink upper computer module as an upper computer of a servo controller to send instructions to the servo controller, and carrying out visual processing on simulation data in the Simulink upper computer module.
9. The integrated simulation system of the foot robot according to claim 1, wherein the motion controller hardware in-loop simulation is specifically: building a foot-type robot virtual model based on Gazebo in the ROS upper computer module, and building an intermediate node program based on Simulink in the Simulink upper computer module; connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Gazebo joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module; the method comprises the steps that a Simulink upper computer module is connected with a Simulink lower computer module through a TCP/IP protocol, an intermediate node program built based on Simulink in the Simulink upper computer module is downloaded to the Simulink lower computer module by using a Simulink Real-Time system, a motion controller model machine is connected with the Simulink lower computer module through a multifunctional board card module, at the moment, the Simulink upper computer is used as an intermediate node to perform data visualization and parameter adjustment, motion control simulation data are subjected to visualization processing in the Simulink, and perception decision simulation data are subjected to visualization processing in Rviz.
10. The integrated simulation system of a foot robot according to claim 1, wherein the motion controller-decision controller hardware in-loop simulation is specifically: building a foot robot virtual model and an external environment virtual model thereof based on Rviz in the ROS upper computer module, and building an intermediate node program based on Simulink in the Simulink upper computer module; connecting the ROS upper computer module with the Simulink upper computer module through a TCP/IP protocol, and constructing a Simulink-Gazebo joint simulation middleware to perform data interaction and simulation time matching between the ROS upper computer module and the Simulink upper computer module; the method comprises the steps that a Simulink upper computer module is connected with a Simulink lower computer module through a TCP/IP protocol, an intermediate node program built based on Simulink in the Simulink upper computer module is downloaded to the Simulink lower computer module by using a Simulink Real-Time system, a motion controller model machine is connected with the Simulink lower computer module through a multifunctional board card module, a decision controller is connected with an ROS upper computer module, at the moment, the Simulink upper computer is used as an intermediate node for data visualization and parameter adjustment, motion control simulation data are subjected to visualization processing in the Simulink, and perception decision simulation data are subjected to visualization processing in Rviz.
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| CN202310340959.9A Pending CN116400612A (en) | 2023-03-31 | 2023-03-31 | Comprehensive integrated simulation system of foot type robot |
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