Method and terminal for making physical robot actions

A robot and entity technology, applied in the direction of instruments, simulators, program control, etc., can solve the problems of the complex structure of the entity robot, increase the difficulty and cost of production, and high requirements, and achieve convenient and fast physical robot action production method, saving The effect of the action production cycle

Pending Publication Date: 2021-12-17
FUJIAN TIANQUAN EDUCATION TECH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. Unnatural movement: due to the way of directly placing the various structures of the physical robot, the structure of the physical robot itself is complex. When expressing complex behaviors, the coherence of multiple structures cannot be guaranteed, resulting in unnatural movements
[0005] 2. Difficulty in production: When placing the physical robot structure manually, it is impossible to preview the entire action, which makes it very difficult to make the action. Only after recording a complete set of actions can you preview. If the preview effect is not satisfactory, you can only re-record it, which will cause Repetition is time-consuming, which greatly increases the difficulty and cost of production
[0006] 3. Cannot be mass-produced: Every customized action needs to be recorded on the physical robot body. The requirements for the personnel who manufacture the action are high. When a large number of actions need to be customized, the efficiency is very low.

Method used

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  • Method and terminal for making physical robot actions
  • Method and terminal for making physical robot actions

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0097] Please refer to figure 1 , Embodiment 1 of the present invention is:

[0098] A method for making an action of a physical robot, comprising the steps of:

[0099] S1. Export the urdf description file of the solid robot from SolidWorks;

[0100] S2. Import the urdf description file into Unity, create a 3D solid robot initial model according to the urdf description file, and export the first 3D model with skeleton information;

[0101] S3. Importing the first 3D model into 3DMax, rebuilding the skeleton for the first 3D model according to the skeleton information, and performing skinning to generate a second 3D model;

[0102] S4. Based on the bone rotation limitation plug-in, the robot action is made on the second 3D model to perform rotation limitation, and an action file is generated;

[0103] S5. Export the action file as a motor data file to the physical robot.

[0104] That is, in this embodiment, the physical robot executes the action corresponding to the motor...

Embodiment 2

[0105] Please refer to figure 1 , the second embodiment of the present invention is:

[0106] A method for making a physical robot action, on the basis of the first embodiment above, in this embodiment, importing the urdf description file into Unity in step S2 is specifically:

[0107] Create a new Unity project, import the Ros-Sharp project code, and use the Import Robot From Urdf tool to import the urdf description file into the Unity project.

[0108] That is, in this embodiment, the Ros-Sharp open source project is used to realize the function of importing the urdf description file into Unity, and the Import Robot From Urdf tool of Ros-Sharp is used to import the urdf description file and assemble it into a 3D solid robot initial model, so as to realize subsequent simulation Features.

[0109] Wherein, the first 3D model with bone information exported in step S2 is specifically:

[0110] Use Unity's FBX Exporter plug-in to export the first 3D model with bone information...

Embodiment 3

[0133] Please refer to figure 2 , the third embodiment of the present invention is:

[0134] A terminal 1 for making physical robot actions, including a memory 2, a processor 3, and a computer program stored in the memory 2 and operable on the processor 3. The processor 3 implements the first embodiment or implementation of the above-mentioned embodiment when executing the computer program. Steps in any embodiment of Example 2.

[0135] In summary, the present invention provides a method and terminal for making physical robot actions, importing the urdf description file of the physical robot into Unity through Solidworks to create a corresponding 3D model, and using 3DMax to perform bone skinning on the 3D model , so as to make the robot motion in 3DMax, by exporting the generated motion file as a motor data file that can be provided to the real robot side to execute the expression, the overall has the following beneficial effects:

[0136] 1. It stipulates the process of c...

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PUM

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Abstract

The invention provides a method and a terminal for making physical robot actions. The method comprises the following steps of: exporting a urdf description file of a physical robot from SolidWorks; importing the urdf description file into Unity, creating a 3D entity robot initial model according to the urdf description file, and exporting a first 3D model with skeleton information; importing the first 3D model into 3DMax, reconstructing a skeleton for the first 3D model according to the skeleton information, and performing skin covering to generate a second 3D model; making robot actions on the second 3D model based on a skeleton rotation limiting plug-in to perform rotation limiting, and then generating an action file; and exporting the action file as a motor data file to the physical robot. According to the method, the actions of the robot are made in the 3DMax and exported as the motor data to be executed by the physical robot, the action production period is shortened, and a more convenient and rapid physical robot action making mode is achieved.

Description

technical field [0001] The present invention relates to the technical field of robot applications, in particular to a method and terminal for making physical robot actions. Background technique [0002] When the physical robot performs behavior expression, it needs to control multiple motors inside the robot to execute at the specified speed. However, the data for controlling the motor speed needs to be prepared in advance, so a type of tool is needed to generate motor data corresponding to different actions, so that it can be used for The physical robot customizes various human actions. [0003] In the prior art, the method of manually placing the robot structure is usually used to record the motor data and export the action file, which has the following disadvantages: [0004] 1. Unnatural movement: Due to the way of directly placing the various structures of the physical robot, the structure of the physical robot itself is complex. When expressing complex behaviors, the ...

Claims

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Application Information

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IPC IPC(8): G05B19/408
CPCG05B19/4083G05B2219/35356Y02P90/02
Inventor 刘德建刘伟李路彭谦陈宏
Owner FUJIAN TIANQUAN EDUCATION TECH LTD
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