基于Unity3D的双臂机器人仿真控制系统

Research on the Simulation Control System of Dual Arm Robot Based on Unity3D

针对仿人双臂机器人自由度多、操作操控困难问题,基于Unity3D引擎和Android Studio,设计和实现机器人虚拟仿真控制系统。首先将双臂机器人三维CAD模型导入Unity3D,搭建机器人的虚拟场景。对于机器人的虚拟仿真,正向运动学采用父子关系进行约束和联动,逆向运动学利用Final IK实现,配置关键关节及其权重,设置旋转限制。采用蓝牙进行无线实时通信,在Android Studio中编写库文件和调用接口,实现Unity3D对安卓端蓝牙的调用,完成移动端的数据发送;对于接收端,采用BLE蓝牙模块对数据进行接收和解析,以便获得正确数据驱动机器人运动。最后使用Unity3D中的UGUI实现交互界面,利用其Button组件灵活设计交互流程和调用响应事件。实验结果显示,仿真控制系统可以实现实时无线通信,并能进行多种操控模式,可视化的界面为使用者带来良好的人机交互体验。基于虚拟仿真的控制界面,能够降低用户的操作门槛,促进仿人双臂机器人在娱乐、服务和生活领域的普及应用。

In response to the problem of multiple degrees of freedom and difficulties in controlling humanoid dual arm robots,a virtual simulation control system for robots is designed and implemented based on the Unity3D engine and Android Studio.Firstly,the 3D CAD model of the dual arm robot is imported into Unity3D to create a virtual scene of the robot.For the virtual simulation of robots,parent-child relationships for constraints and linkage are adopted in forward kinematics,while final IK is implemented in reverse kinematics,with key joints and their weights configured,and rotation restrictions set.In terms of communication,Bluetooth is used for real-time communication,and library files and call interfaces are written in Android Studio to enable Unity3D to call Android Bluetooth and complete data transmission on the mobile end.For the receiving end,the BLE Bluetooth module is used to receive and analyze data in order to obtain the correct data to drive the robot's motion.Finally,the interaction interface is implemented using the UGUI in Unity3D,and its Button component is used to flexibly design the interaction process and call response events.The simulation control system can achieve real-time wireless communication and can perform various control modes.The visual interface provides users with a good human-computer interaction experience.The control interface based on virtual simulation makes user operating easier and promotes the widespread application of humanoid dual arm robots in entertainment,service,and life fields.