A realization method of semi-physical real-time simulation platform for mobile robot based on Quanser system is proposed in this paper. The robotic physical system is built by using the Quanser/IMDU module, the Matlab...
详细信息
A realization method of semi-physical real-time simulation platform for mobile robot based on Quanser system is proposed in this paper. The robotic physical system is built by using the Quanser/IMDU module, the Matlab/Simulink and Quanser/Qua RC components are adopt to implement simulation system modeling and auto-matic generation of real-time control software. The Quanser/Q8 acquisition card is used as a communication medium for feedback data acquisition and real-time control of physical objects, so as to realize closed loop control of semi-physical simulation system. The platform can be used for fast verification of the complex control algorithm of mobile robot, and the effectiveness of the method is verified by the trajectory tracking control experiment of the semi-physical simulation system.
暂无评论