Design And Implementation Of Visualization System For Hydraulic Biped Robot Movement Data

The hydraulic actuated biped robot has been applied to the complex and dangerous tasks such as military and disaster relief,because of its high payload and fast dynamic response.Designing a stable and efficient motion data perception system and the efficient visualization of the motion are of great significance for the motion control and state monitoring of the biped robot.Because of the problem of redundant structure,reliability and low flexibility of the current robot data perception system,a distributed modular robot motion data visualization system was designed and realized in this paper,and the obtained data was visualized efficiently and intuitively,which lays the foundation for the subsequent robot to achieve higher function.Firstly,on the basis of the analysis of the motion structure and motion data of biped robot,the requirement analysis of the motion data visualization system for biped robot was determined to confirm the design requirements of each functional module,and then the architecture of the distributed system was completed.According to the characteristics of the motion parameters of the actuation unit and the parameters of the motion state of the body,different data acquisition and transmission methods were determined and the requirement analysis of the data visualization system software was completed to provide the design basis for the follow-up work.Secondly,the acquisition and transmission of motion data were analyzed.The real-time data acquisition for linear displacement,angular displacement and tension pressure sensor based on Ether CAT field bus were adopted for the actuation unit motion data.The Ether CAT's modular terminal structure makes the joint actuation unit more expansible and more flexible.For the acquisition of the state parameters of the body,the real-time acquisition of the attitude angle and six axis force data were completed based on the RS232 serial bus,which ensures the reliability of the data acquisition and the high efficiency of the development.As for the transmission between different levels of data,the data transmission is guaranteed by the joint driver and gait control layer using ADS.The transmission of data between gait control layer and the remote task planning layer ensures the accurate synchronization of data transmission by the YARP.Thirdly,the visualization of the acquired data was displayed.Based on MFC,the visualization software was designed and developed.The drawing of two dimensional real time curve was realized by using Chart Ctrl library,and the data updating algorithm was analyzed.As for display of 3D model,virtual model was completed by Open GL 3D library,and the functions of OBJ model reading,lighting setting and view interactive control were analyzed and realized.Finally,a verification platform of visual system was built based on the above work,and the experimental verification of data transmission characteristics was completed.And the data visualization and software function verification was completed based on the robot single leg experimental platform,which proves the reliability and real-time performance of the system.