Research And Design Of Service Robot Fault Simulation Platform Based On Webots

With the development of science and technology, robot is gradually walking into people's daily life. While the convenience it brings to people, its security problem is increasingly highlighted. The study of service robot fault prediction and fault analysis is necessary. As a key link in the fault diagnosis of robot, fault information acquisition is one of the core problems in this field. It's difficult to obtain the fault information using traditional problems. In this paper, the robot fault simulation platform is studied and a service robot fault simulation software platform is set up based on Webots.On the basis of the robot simulation status and development trend at home and abroad, this paper presents the design scheme of robot fault simulation platform based on Webots and MATLAB. We use Webots simulation software to complete the construction of the robot model and running environment and this module is used to realize fault injection and fault information acquisition; The design of human-machine interface and fault analysis is completed by MATLAB, which is used for the robot state information display and fault information processing.According to the design scheme mentioned above, we completed the design of robot bottom motion module with Webots and set up the robot 3D model using the external imported robot shell. We also added motors and sensors for the model to complete the design of robot controller and simulation of indoor environment. We completed the design of human-machine interface by MATLAB and both-way communication between Webots and MATLAB.In this paper, the robot common faults and its characteristics are expounded. We also designed the fault injection module and achieved the fault simulation. Meanwhile, we realized the validation of robot fault diagnosis methods by neutral network fault diagnosis method based on genetic algorithm optimization.Fault simulation platform overall test results show that this platform is able to achieve the real-time fault injection and status information acquisition. Besides, it can also store and process the status information and be applied to simulation research of robot fault diagnosis.