基于CoppeliaSim的蛇形机器人建模与运动仿真  

Snake Robot Modeling and Motion Simulation Based on CoppeliaSim

作　　者：齐伟 陈雪艳[1,2] 迎春[1,2] 永生 QI Wei;CHEN Xue-yan;YING Chun;YONG Sheng(College of Engineering,Inner Mongolia Minzu University,Tongliao Inner Mongolia 028000,China;Key Laboratory of Intelligent Manufacturing Technology,Inner Mongolia Minzu University,Tongliao Inner Mongolia,028000,China)

机构地区：[1]内蒙古民族大学工学院,内蒙古通辽028000 [2]内蒙古民族大学智能制造技术重点实验室,内蒙古通辽028000

出　　处：《计算机仿真》2024年第10期443-447,共5页Computer Simulation

基　　金：内蒙古自治区自然科学基金(2021LHMS06008);内蒙古自治区高等学校科学研究项目(NJZZ21028);内蒙古自治区直属高校基本科研业务费项目(GXKY22123,GXKY22045);内蒙古民族大学博士科研启动金(BS505)。

摘　　要：在进行蛇形机器人的结构设计及控制算法研究时,需要建立合理的仿真模型和良好的测试环境,便于研究人员有效评估。以课题组自主研发的蛇形机器人为例,基于CoppeliaSim和ROS设计了仿真模型及其运动控制系统,并进行了虚拟仿真,测试了蛇形机器人的蜿蜒运动和侧移运动。结果表明,仿真环境中模型的运动状态良好,机器人与环境交互正常,为蛇形机器人结构和控制算法的测试提供了理想的评估环境。The research on the structure and control algorithm of the snake robot requires a test environment with good consistency and controllable uncertain factors.Establishing a reasonable simulation model can help researchers to effectively evaluate the structure and algorithm design of the robot.In this paper,taking the snake robot independently designed by the research group as an example,we design a simulation experiment model and its motion control system based on CoppeliaSim and ROS,and conduct a virtual simulation experiment to test the serpentine and sidewinding motions of the snake robot.The results show that the motion state of the model in the simulation environment is satisfactory,and the interaction between the robot and the environment is normal,which provides an ideal evaluation environment for testing the structure and control algorithm of the snake robot.

关 键 词：蛇形机器人 建模 运动仿真 蜿蜒运动 侧移运动 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]