On The Virtual Prototype Modeling And Real-time Simulation System Of Underactuated Biped Robot

Simulation technology is a Multi-disciplinary comprehensive technology, recently, as the development of computer, information, system theory and other related Technology, Simulation technology developed very quickly, architecture,man-machine interaction environment, modeling of integrationin and otherwise aspect of simulation system is getting to mature and standard.The research of this paper is financial aided by national 863 proggram (2006AA04Z251).This paper aims to develop real-time simulation system for Underactuated biped robot, primary develop the real-time controlling module and co-simulation module, finally obtain a comprehensive software plant which can complete correlative experiments and research.Simulation system research is primary on the following two aspects mainly: Real-time control and dynamics simulation experiment.Real-time control of the entity is completed the actual robot control, focused on online test application and debug algorithms. Underactuated robot control system is the main task of the robot through the joint control, to achieve walking robot posture control, so that the robot can have a smooth, fast, and walking. The need for real-time control of robot hardware and design-driven real-time control algorithm, VC++ and other high-level language compiler, compared with a high efficiency, these functions through the VC++ programming.Dynamics simulation to complete the solution of dynamic model and control algorithm, dynamic simulation experiment focused on the realization of the simulation of mechatronic systems analysis. To the dynamics of the robot more accurate forecasts, the mechanical structure of robot design, control algorithm development and validation to provide an analysis based on direct processing and debugging robot entities can save development costs compared to improve development efficiency.Under-actuated robot developed in a large number of scholars before the foundation of theoretical analysis, the dynamics of the robot more complicated, theoretical studies are based on many assumptions, a simple principle with Lagrange Newton mathematical formula established by the robot model, on the particle dynamics model of the Department of neglect of the process of solving a number of factors.In the introduction of real-time simulation of virtual prototyping system dynamic model, theoretical analysis can be added for further verification, the robot with the entities have a lot of similarities, but also in automatic mechanical system dynamics analysis software environment and the generation of dynamic equations to solve achieved by the computer. At the same time simulation system controller in the simulation function, combined with the virtual prototyping of mechatronic systems constitute the simulation platform, through the analysis of mechanical system simulation tool simulation software with the controller design to achieve organically connected.Simulation through the code development platform for the realization of the modules can exchange data with each other to achieve system integration, the simulation platform to carry out experimental analysis, the final mechanical structure can be optimal and the optimal control methods.The main job summarizes of this paper as follows:1. Simulation system of underactuated biped robot is based on the Windows XP OS, so it is more convenient to develop controlling software and research algorithm. Analyze and summarize the development of mechanical system designing technology and controller simulation technology of machinery system at home and abroad, combined with the need of the development of underactuated biped robot in the national 863 program, design the architecture of the real-time simulation systems of underactuated biped robot, applies to develop the entity robot.2. Adopt multi-disciplinary software integration technology to develop entire simulation system to reach required function, concrete function realization, the dynamic model of the virtual prototype is designed in ADAMS software, simulation controller is designed in the Matlab software, the driving and controlling of the hardware platform and system software is completed in the VC++, In addition, the design module of the virtual prototype model which used to operate the model file is developed in VC++ environment.3. Self-developed robot simulation system, modular programming design developed, compact overall structure, the software code has good transportability and expansion capability, the bottom code can be improved in the application process, hardware drivers, algorithms can be added as you wish, so the function expanse of simulation system software is very convenient.4. By using Matlab calculating engine technology, realizing the connection of man-machine interface with every module. The adopting of the method that programming by VC++ invoke Matlab can simplify the programming step, has reduced difficulty of programming, also can better perform the advantages of VC++ and Matlab software platform as a group. Developing the man-machine interface with VC++, in simulation system, the parameters of virtual prototype can be designed on man-machine interface, controller also can be designed, and the platform can accomplish the calculation designing and the function of demonstrate.5. When concrete application, simulation system realizes to the controlling and debugging of entity robot, accomplish functions such as electric motor controlling, serial communication, amounts switch detecting and addition of algorithm; The software platform can connect to Matlab, achieve the theoretical under-actuated biped robot gait simulation, control and experimental study of the development; system focused on realization of co-simulation, sufficiently link theoretical analysis and prototype machine development, to facilitate the design of mechanical structure and control algorithm; system complete data management by software, records and generate a lot of experimental data and corresponding processing.To sum up, this article was completed under-actuated walking robot open generic simulation software, multi-test real-time simulation systems, on the under-actuated biped robot simulation, control algorithms and experimental study of the development is an important value . The main innovation is under-actuated biped walking robot simulation software, the field of multi-disciplinary integration, and virtual prototyping technology will be introduced to the under-actuated robot dynamics modeling in order to avoid complicated mathematical formula the process of dynamic modeling. This article focuses on the development of real-time simulation systems, while systems based test method for exploration and research, testing analysis of the under-actuated movement of the robot, but the under-actuated control of robots walking speed is still need for further in-depth study.