Modular robot self-repair simulation system and method

A technology of robot system and simulation method, which is applied in the field of modular robot self-repair simulation system, to achieve the effects of saving time and manpower, intuitive movement observation, and convenient data processing and analysis tools

Active Publication Date: 2018-05-04
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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-repair simulation system and method
  • Modular robot self-repair 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] Such as 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 simul...

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Abstract

The present invention proposes a modular robot self-repair simulation system and method, including: a physical robot system, a robot control platform, a robot self-repair simulation platform, and a fault generation and analysis platform, wherein: the robot control platform is connected to the physical robot system for Control the robot; the robot self-repair simulation platform is connected with the robot control platform for self-repair simulation and transfer simulation data for robot control; the fault generation and analysis platform is connected with the robot self-repair simulation platform for generating virtual The fault module provides initial conditions for the self-healing process. The present invention can complete the control of the self-repair of the entity module robot, simulate the movement of the actual module robot self-repair process, truly reflect the movement mechanism of the module robot self-repair, and design the robot mechanism for mechanical structure design and control algorithm research in the development process and overall optimization.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02
Inventor 俞港管恩广付庄
Owner SHANGHAI JIAOTONG UNIV
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