基于Bullet物理引擎的机器人仿真实验平台设计

Design of Robot Simulation Experiment Platform Based on Bullet Physics Engine

为适应新时代工业机器人实验教学的蓬勃发展,设计了一种基于Bullet物理引擎的机器人仿真实验平台。该平台使用Bullet作为仿真引擎,具备运动学解算、碰撞检测与轨迹可视化的功能,使用Lua脚本作为主逻辑控制语言,调用仿真引擎功能函数。使用基于数据流的节点图作为主实验交互平台,将计算模块和通信模块封装为功能节点,通过图形连接定义运算逻辑。应用实例表明,该平台功能完善,可扩展性强,兼具脚本语言的灵活性与图形化语言的便捷性,适用于机器人的多种实验场景。

In order to adapt to the vigorous development of experimental teaching of industrial robots in the new era,a robot simulation experiment platform based on Bullet is designed.The platform uses Bullet as the simulation engine,which has the functions of kinematics solution,collision detection and trajectory visualization,and uses Lua script as the main logic control language to call the functions of the simulation engine.Using the node graph based on data flow as the main experiment interaction platform,the computing module and the communication module are encapsulated as functional nodes,and the operation logic is defined through the graph connection.Application examples show that the platform has complete functions,strong scalability,and has both the flexibility of scripting language and the convenience of graphical language,and is suitable for various experimental scenarios of robots.