将通过外部传感器获取的真实信号集成到 RoboDK 中,模拟机器人工业应用
Cozmin Cristoiu1, Andrei Mario Ivan1
1Faculty of Industrial Engineering and Robotics, National University of Science and Technology Politehnica București, Splaiul Independentei No. 313, 060042 Bucharest, Romania.
Sensors (Basel, Switzerland)
|March 17, 2025
概括
这项研究将真实传感器数据集成到RoboDK的机器人模拟中,用于数字双胞胎和虚拟调试. 该系统实现了低延迟,能够更准确地反映现实世界的工业条件.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 模拟技术的模拟技术
- 工业自动化 工业自动化
背景情况:
- 现实世界传感器数据与工业机器人模拟之间的同步是一个重大挑战.
- 数字双胞胎和虚拟调试应用程序需要准确的实时数据集成.
- 现有的方法通常依赖于模拟或手动触发的输入,缺乏动态的现实世界的忠实性.
研究的目的:
- 提出和验证一种创新的方法,将真实传感器信号集成到 RoboDK 模拟中.
- 为了弥合虚拟机器人模型和实际物理动态之间的差距.
- 在基于实时传感器数据的模拟中实现动态的实时交互.
主要方法:
- 开发基于Arduino的数据采集模块,用于信号采集.
- 实现一个定制的Python脚本用于实时通信.
- 将物理传感器信号直接集成到 RoboDK 模拟环境中.
- 通过端到端系统的延迟测量验证.
主要成果:
- 在物理传感器和RoboDK之间成功建立了实时通信.
- 支持模拟和数字传感器信号集成.
- 经过证明的平均端到端延迟时间为23.97毫秒.
- 确认将真实传感器集成到机器人模拟中的可行性.
结论:
- 拟议的方法有效地将真实传感器数据集成到RoboDK中,提高模拟准确性.
- 该系统为开发先进的工业模拟环境提供了一个可扩展的基础.
- 这种方法可以适应各种工业应用,需要精确的现实世界同步.
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