基于Coppeliasim与MATLAB的机器人建模与运动仿真  

Robot modeling and motion simulation based on Coppeliasim and MATLAB

作　　者：李杨 张华良[3,4,5] 王军[1,2] Li Yang;Zhang Hualiang;Wang Jun(College of Computer Science and Technology,Shenyang University of Chemical TechnologyLiaoningShenyang 110142;College of Computer Science and Technology,Key Laboratory of Industrial Intelligence Technology on Chemical Process LiaoningShenyang 110142;Key Laboratory of Networked Control System,Shenyang Institute of Automation,Chinese Academy of SciencesLiaoningShenyang 110016;Institute of Robotics and Intelligent Manufacturing Innovation,Chinese Academy of SciencesLiaoningShenyang 110169;Shenyang Institute of Automation,Chinese Academy of SciencesLiaoningShenyang 110016)

机构地区：[1]沈阳化工大学计算机科学与技术学院,辽宁沈阳110142 [2]沈阳化工大学辽宁省化工过程工业智能化技术重点实验室,辽宁沈阳110142 [3]中国科学院网络化控制系统重点实验室,辽宁沈阳110016 [4]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [5]中国科学院沈阳自动化研究所,辽宁沈阳110016

出　　处：《科技风》2021年第32期61-64,共4页

基　　金：国家自然科学基金(91648204)资助,课题名称:群体智能机器人操作系统的机理、架构与技术研究,课题类型:国家自然科学基金,课题号:91648204。

摘　　要：针对目前机器人模型构建烦琐,仿真过程复杂的问题,提出了基于Coppeliasim与MATLAB相结合实现对所研究机器人的建模与运动仿真。首先使用3D建模软件SolidWorks将模型导出,然后采用D-H参数建模法进行分析,得出机器人运动学模型表达式。最后使用LuaSocket通信方式实现机器人与MATLAB中控制程序之间的通信连接。目的是实现机器人复杂的运动学建模与运动仿真。该方法研究了机器人关节运动和控制程序,分析了二者联合仿真的实用性。以络石XB7机器人为代表,叙述机器人的3D模型仿真技术。仿真结果表明机器人能够准确按照控制程序进行运动,验证本仿真方法的真实有效性。To the current complex problem of robot model construction and complex simulation process,a method for robot modeling and motion simulation based on the combination of Coppeliasim and MATLAB is proposed.This method is to export the STL robot model file from the SolidWorks software,this model was established through the D-H parameter method,and LuaSocket communication completes the connection between the robot and the control program in MATLAB.The purpose is to model and simulate the kinematics of the robot.This method studies the robot joint motion and control program,and analyzes the practicability of the above-mentioned co-simulation.Take ROKAE XB7 robot as an example to introduce the 3D model simulation technology of the robot.The results show that the robot can accurately control the movement according to the program,which verifies the authenticity of the simulation method.

关 键 词：机器人 Coppeliasim仿真 LuaSocket D-H模型 

分 类 号：TP-242[自动化与计算机技术]