基于dSPACE并行处理平台的机器人实时仿真系统结构及实现

THE ARCHITECTURE AND IMPLEMENTATION OF REAL-TIME ROBOT SIMULATION SYSTEM BASED ON DSPACE PARALLEL PROCESSORS

  • 摘要: 基于dSPACE并行处理平台设计了两级结构的机器人实时仿真系统,这种仿真结构既与实际控制系统结构相接近,又有很高的计算能力.分别用C语言和SIMULINK设计了模块化的机器人仿真控制软件,将机器人的正逆运动学、正逆动力学、各种控制算法、轨迹规划等封装成通用模块,并提供用户接口.基于VB和MATLAB设计了图形化的人机接口,通过DDE进行数据交换,解决了dSPACE的TRACE软件不能在一个图形窗口显示多个变量的问题.

     

    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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