Heterogenous Multi-robots Systems' Modeling And Simulation

On the day when the industry becomes more informationized and smart,no matter on the more and more advanced production or manufacture or on the military pre-research project which needs more higher precision,relative systems' stimulation is becoming more and more important,which can assess a project's feasibility through simulation which approach the reality highly,and can optimize systems' procedure,simplify system,at the same time,it can make some feedbacks like if collisions happened or not to some degree.For a complex simulation system,several different modeling softwares could be used,after different types of modeling,a unified file will be created,for this file,it can't be changed,model can't be added to system dynamically,for solving this problem,different modeling method should be unified to a series of interfaces,using these interfaces,the simulation system could be changed easily.For the 7-DoFs robot in project,it was solved with one degree fixed once upon a time,not every DoF was used fully,For solving this problem,kinematics was solved,and in the program,Monte-Carlo was used,through all of these,every DoF can work normally.Another import thing is collision detection vector,before this work,only simulation system's vectors were used,but under complex environment,if high-precision was needed,it would be failed,so,considering different bounding box theory,a new collision detection vector was developed.With the modeling methods' unification,simulation platform becomes more flexible,adding or deleting becomes more convenience.With the 7-DoF robot's kinematics solved and Monte-Carlo used,it become more useful and high-performance.With the new developed collision detection vector,it becomes more accurate in complex environment.