Design And Research Of Modular Reconfigurable Simulation Platform For Robot

Along with the deepening development in the robotics field, robotics simulation, as a reliable and flexible tool for robot design and research, is also propelled forward fast. And it is playing an increasingly important role in robotics development and application. This dissertation is derived from "Robot Modeling and Simulation Platform Integrated Development Environment", which is subproject of national863key project "Modular Robot Architecture". In this dissertation, a robotics simulation platform with modular and reconfigurable functions is proposed. The platform provides a stable core engine, visual modeling editor, multi-language interactive interface with low threshold and good augment ability. Users are allowed to accomplish the required work in an efficient manner to further shorten the development cycle. The main contributions of the dissertation are shown as follow.1. According to the functional requirements of robotics simulator, analysis of the advantages and disadvantages of current simulation system is carried out, and the general standards of design and requirements of simulation system is put forward based on modular and reconfigurable methods.2. Based on modular architecture, the robotics simulation platform is designed. The framework of the simulation platform is proposed. And the core engine module, model editing module,3D Virtual display module, multiple interface modules and master control module are designed respectively.3.3D real-time scene rendering, visual modeling editor and multi-language interface are solved as key technology. Z buffer based real-time hidden line removal is achieved, as well as the judgment of the dynamic LOD (level of details) based on quadtree. And XML-based visual model editor and C++and Matlab language support are provided.4. According to the system design and architecture, a reconfigurable and modular simulation platform is developed. By binding PhysX physics engine and OpenGL rendering engine, the efficient core engine is built; XML-based3D visual modeling tool is developed;3D real-time display module is achieved with interactive performance, and support multiple input devices; multi-language interfaces are established to low the threshold of using the platform.5. The robot simulation platform is verified and tested.6-DOF manipulator and intelligent robots are used for simulation. The experiments of actual robots and simulated ones with control algorithms are carried out. Both of them verify the liability and reasonability of simulation platform.