陈启军, 王月娟, 陈辉堂. 基于dSPACE并行处理平台的机器人实时仿真系统结构及实现[J]. 机器人, 2003, 25(1): 62-65,72..
CHEN Qijun, WANG Yuejuan, CHEN Huitang. THE ARCHITECTURE AND IMPLEMENTATION OF REAL-TIME ROBOT SIMULATION SYSTEM BASED ON DSPACE PARALLEL PROCESSORS. ROBOT, 2003, 25(1): 62-65,72..
Abstract：This paper presents a real-time robot simulation system based on dSPACE parallel processors, which is two-layer structure and is consistent with real robot control system, high computation performance can be guaranteed.Simulation software are designed by C language and SIMULINK module respectively, dynamics, kinematics, control scheme, trajectory plan, etc., all be packed as module and a user interface are designed. In order to avoid the limit that the TRACE can not display some variable contemporary in a window, a graphic man-machine mutual are implemented by VB language and MATLAB,data exchanges are completed by using Dynamic Data Exchange.
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