基于LabWindows/CVI的机器人控制系统仿真设计

Design of Robot Control System Simulation Based on LabWindows/CVI

目前国内外针对机器人不同研究方向已经提出了多种算法,但是很少有软件可以对算法的效率,精确性等进行直观的比较显示,因此本研究提出一种基于LabWindows/CVI的机器人控制系统。该系统利用LabWindows/CVI软件设计,包含栅格算法,优化栅格算法和A*算法3种算法,实用性强;同时为了增加软件的通用性,本系统支持二次开发,用户可以用其他编程环境编写任意路径规划算法,只要符合接口链接,最终都能加载到本程序进行验证。仿真结果表明系统比较稳定,适合于教学和实验室研究,并根据测算结果可以对实际机器人路径提供有效的参考。

At present,many algorithms have been proposed for different research directions of robots at home and abroad,but few software can visually compare and display the efficiency and accuracy of the algorithms.Therefore,a robot control system based on LabWindows/CVI is proposed in this paper.The system is designed by LabWindows/CVI software,which includes three algorithms:raster algorithm,optimized raster algorithm and A* algorithm.It has strong practicability.At the same time,in order to increase the generality of the software,the system supports secondary development.Users can write arbitrary path planning algorithms in other programming environments.As long as the interface links are complied with,they can ultimately be loaded into the program for verification.The simulation results show that the system is stable,suitable for teaching and laboratory research,and according to the calculation results,it can provide effective reference for the actual robot path.