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

基于 d SPACE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 SIMUL INK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 MATL AB设计了图形化的人机接口 ,通过 DDE进行数据交换 ,解决了 d SPACE的 TRACE软件不能在一个图形窗口显示多个变量的问题 .

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.