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V-REP plug-in and processor-in-loop simulation method based on V-REP plug-in

A processor and plug-in technology, applied in the field of simulation, which can solve problems such as poor flexibility

Active Publication Date: 2020-07-03
HRG INT INST FOR RES & INNOVATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a V-REP plug-in and a processor-in-the-loop simulation method based on the V-REP plug-in, which has solved the running result of the same code on the target processor in the simulation model design based on V-REP When it is not consistent with the simulation model, the problem of poor flexibility

Method used

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  • V-REP plug-in and processor-in-loop simulation method based on V-REP plug-in

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Experimental program
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Embodiment 1

[0047] figure 1 It is a schematic block diagram of the V-REP plug-in in the present invention; as figure 1 ; A V-REP plug-in, including object code generation and compilation module, hardware interface driver module, wherein,

[0048] The target code generation and compilation module functions include: target compilation language setting module, target code generation module, hardware model setting module, compiler type setting module, sampling step size setting module, program download module, enable processing Controller module and program compilation button module;

[0049] The target compilation language setting module is used to set the target compilation language;

[0050] The object code generating module is used to generate object code;

[0051] The hardware model setting module is used to set the processor model;

[0052] The compiler type setting module is used to set the compiler type;

[0053] The sampling step size setting module is used to set the sampling s...

Embodiment 2

[0062] Such as figure 2 , image 3 , figure 2 It is a schematic block diagram of the flow process of Embodiment 2 in the present invention; image 3 Be the simulation frame of the embodiment of the present invention Figure 1 A processor-in-the-loop simulation method based on the V-REP plug-in, comprising the following steps:

[0063] S1. Set up a Qt Creator (Qt creator) project on a computer equipped with V-PER software, and write the V-REP plug-in described in Embodiment 1 based on Qt.

[0064] Preferably, in this embodiment, the shared library plug-in is placed in the V-REP3\V-REP_PRO_EDU folder under the V-REP software installation directory;

[0065] Among them, V-REP_PRO_EDU is the robot simulation platform;

[0066] S2, start the V-REP software, bind the script of the scene model and run the simulation;

[0067] V-REP software (main client application program) automatically loads the V-REP plug-in under the Plugins (plug-in) menu, or dynamically loads it under t...

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Abstract

The invention relates to a V-REP plug-in and a processor-in-loop simulation method based on the V-REP plug-in. The V-REP plug-in comprises a target code generating and compiling module and a hardwareinterface driving module. The target code generating and compiling module comprises a target compiling language setting module, a target code generating module, a hardware model setting module, a compiler type setting module, a sampling step length setting module, a program downloading module, an enabling processor module and a program compiling button module. According to the method, the script of the scene model is bound, so that the flexibility of script customization simulation is integrated, and specific simulation and the scene model are allowed to be customized; the plug-in is providedwith a special interface of hardware equipment and an interface communicated with the outside, so that the rapid computing power of an external processor is utilized.

Description

technical field [0001] The invention relates to the technical field of simulation, in particular to a V-REP plug-in and a processor-in-the-loop simulation method based on the V-REP plug-in. Background technique [0002] With the development of intelligent manufacturing, replacing prototype manufacturing with simulation technology has become an effective technical means for product update iterations, and real-time and high fidelity are the keys to the success of the simulation-driven design model; Uncertainty at a specific level is translated into an impact on objectives expressed at the level of the project as a whole for the project simulation. [0003] In the field of simulation, V-REP (virtual robot experimentation platform, virtual robot experiment platform) is an open and free robot dynamics simulation platform based on distributed control architecture, used for rapid algorithm development, factory automation simulation, rapid prototyping V-REP plays a very important r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F9/445G06F9/455G06F8/41
CPCG06F9/44526G06F9/45508G06F8/447
Inventor 董事李传国金马张洁洁甘建安梅晓辉丁亮
Owner HRG INT INST FOR RES & INNOVATION
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