Teleoperation System Based On The Modelica Simulation Study

Teleopration oriented robot simulation system plays an important role in robotics, which provides a safe and convenient way for robot manufacture and control, and it gives an important research value. In this paper, the multi-disciplinary modeling language Modelica which is popular nowadays is combined with the the existing teleopration oriented robot simulation system in the lab, and further researches take place on both of them, including studying the robot simulation based on Modelica and the research of robot motion editing system.Modelica is a kind of unified object-oriented language for physical system modeling designed by Modelica Association. It is a modern language built on non-causal modeling and describing the system in the more natural syntax and semantics. It is very suitable for modeling and simulation the complex systems such as vehicle and robots.A method for simulation based on Modelica model is presented in this paper according to analyze the applications of Modelica and the related tools. This proposal realize simulation of Modelica robot model by combining the computing capability of the Modelica sumlation tools and the visualization capabilities of the existing platform, and it makes the outcome of robot simulation more realistic compared with the real robot, what's more, a teleoperation model based on Modelica simulation is present in this paper by analysing the exited teleoperation models.Editting robot motion and showing robot movement as 3D animation is very useful for trajectory planning, kinematic analysis and controlling. A robot motion editing system is designed in order to make the off-line operators also can control the robot and examine the movement of the robot. The system saves the key movement of the robot as a keyframe and provides preview of the robot motion by generated smooth animation based on linear interpolation.Research robot simulation based on Modelica can make the result of the simulaiton is more realistic with the real robot, it increases the accuracy of the simulation; Studying the robot movement editting system, not only realizes the robot offline control through pre-recorded animations, but also supplies a intuitive method to examine the movement effect of the robot. In the end of this paper, the experiments on these two area shows the study of these technologies provides an appropriate support to the system.