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Modular robot self-repairing simulation system and method

A technology of a robot system and a simulation system is applied in the field of self-repairing simulation systems of modular robots to save time and manpower, improve work efficiency, and facilitate data processing.

Active Publication Date: 2015-11-25
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

These platforms are not well suited for modular robot self-healing simulations. Self-healing systems have many differences compared to self-reconfiguring deformation systems.

Method used

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  • Modular robot self-repairing simulation system and method
  • Modular robot self-repairing simulation system and method

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Embodiment Construction

[0065] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0066] like figure 1 As shown, a modular robot self-repair simulation system is composed of multiple modules, including: robot control platform 1, robot self-repair simulation platform 2, fault generation and analysis platform 3, wherein:

[0067] The robot control platform 1 is connected with the physical robot system for controlling the robot;

[0068] The robot self-repair simulation platform 2 is connected to the robot control platform 1 to perform self-repair simulation and transmit simulati...

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Abstract

The invention provides a modular robot self-repairing simulation system and a method. The system comprises an entity robot system, a robot control platform, a robot self-repairing analog simulation platform and a fault generation and analysis platform, wherein the robot control platform is connected with the entity robot system for controlling the robot; the robot self-repairing analog simulation platform is connected with the robot control platform for carrying out self-repairing simulation and transmitting simulation data for robot control; and the fault generation and analysis platform is connected with the robot self-repairing analog simulation platform for generating a virtual fault module and providing initial conditions for the self-repairing process. Control on self-repairing of the entity modular robot can be completed, the movement condition of the actual modular robot self-repairing process can be simulated, the modular robot self-repairing movement mechanism can be truly reflected, and the robot mechanism design can facilitate the mechanical mechanism design, control algorithm research and whole optimization during a research process.

Description

technical field [0001] The invention relates to the fields of robotics, control science and engineering, computer science and software engineering, in particular to a system in the field of simulation technology, in particular to a modular robot self-repair simulation system and method. Background technique [0002] A modular robot is a robot system composed of multiple autonomous intelligent modules, using the connectivity and interchangeability between modules, as well as the surrounding environment information sensed by the module's own sensors, to change the overall configuration through the interoperation between a large number of modules , expand the form of movement, realize different movement gaits, and complete corresponding operation tasks. [0003] When several modular robots in the system fail, it is necessary to change the structure through the mutual movement between the modules, and replace the faulty module with a normal module. This is the self-repair proces...

Claims

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Application Information

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IPC IPC(8): G05B17/02
Inventor 俞港管恩广付庄
Owner SHANGHAI JIAO TONG UNIV
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