Research And Realization Of Robotics Modeling And Simulation System

Robotics modeling and dynamics simulation is an active area of robotics research. However it still has many problems, such as poor interaction and simulation parameters obtaining. This thesis focuses on the above problems. Our system supports interactive graphics interfaces, robotics modeling and verifying. It also supports real-time dynamics simulation, parameters feedback, actuator calibration and real-time rendering. The systems can guide the robots design, enhance robots development and reduce hardware cost. The main contributions of this thesis include three aspects.1. The thesis presents a Graphics-based Robotics Modeling System GRMS which provides convenient, rapid, reliable robotics modeling. It proposes a geometry-based segment-joint modeling method, a kinematics-based segment-joint verifying method, a collision shape modeling method. These methods can simplify the robot modeling. It also supports the interaction with robotics simulation systems.2. The thesis describes a MSRS-based Robotics Simulation System MRSS. It takes two important advantages over MSRS. To solve the problem that the MSRS needs the expert-level coding for a specific robot model, we develops a parser for models exported by GRMS;the other is the robotics simulation system MRSS that provides dynamics parameter feedback from object states.3. Based on physics engine technology, this thesis discussed a robotics simulation system called PERSS. The system imports the integrated simulation model from GRMS; designs a physics engine wrapper layer; designs a render engine wrapper layer; proposes a robot actuator simulation method based on PID control theory.The graphics-based interactive real-time robotics modeling and simulation method has advantages in rapid modeling, real-time simulation, simulation accuracy and etc. It can direct the robot development and has a bright future in robot research, development, education and many other areas.