Research On Simulation System For Quadruped Robot And Platform Construction Based On OpenGL

Robotics is a comprehensive discipline as a fusion of sensor technology and control technology, involving many fields of machinery, electronics, computer, artificial intelligence, etc. With the development of artificial intelligence, robots have gotten broader development and promotion as an industry. Therefore, the diversity and division of robot becomes more and more detailed, and the working environment of robot becomes more and more complex and diversified. So that putting the robot machine into practical condition without optimizing the control parameters may cause destruction of machinery construction that will not only make the research costs wasteful, but also affect the research progress. However, with the help of computer simulation in advance onto robot and its working environment or even the entire control process can avoid the above problems effectively, and obtain a good supporting effect. General computer simulation process is building dynamic model according to the robot motion control model firstly, and then making motion planning according to the dynamic model to have the response ability to external commands and operations, and in the end simulating the actual movement of robot.As the safe, reliable, flexible and convenient tool for robotic research, robot simulation system plays more and more important roles with the development of robots. Simulation can change robot attributes parameters without the limitation from environment and conditions to test property and rationality of mechanical structure and algorithms.According to the paper, we developed a multi-functional simulation software named SUCROSim (Shandong University Center for Robotics Simulator) with the function of robot kinematic and dynamic simulation.The main work of this thesis is as follow:the thesis expatiates the current development of robot simulation software and platform, and indicates the current issues about robot simulation. Then deduces the kinematic and dynamic equations directing at SCalf. The thesis designs different function modules according to the design objective and functional requirements of SUCROSim. The thesis emphasizes the method of loading and rendering 3D model based on OpenGL and obj format. According to the method above, the thesis designs the experiments of trot gait and collision detection on SUCROSim. And the features of SUCROSim include opening man-machine interactive interface to users to make the robot parameters and attributes adjustable, initially offering the adjustable simulation velocity to make the simulation details observable implementing the serial communication between remote-control unit and simulation platform.