Jedan primer primene Webots-a u rešavanju zadataka upravljanja robotskog sistema

Abstract

U ovom radu prezentovan je softverski paket Webots za simulaciju datog robotskog sistema. Prvo su razmatrane osnovne osobine i komponente Webots-a. Zatim je opisan način kako se konstruiše 3D model robotskog sistema u Webots-ovom okruženju. U cilju rešavanja problema pozicioniranja robotske hvataljke, određuju se PD parametri upravljačkog sistema, a na osnovu prethodno dobijenog matematičkog modela robotskog sistema. Rezultati pozicioniranja dobijeni u Webots okruženju su upoređeni sa rezultatima simulacije istog dobijeni u Simulink/Matlab okruženju, kako bi se pokazala fizička verodostojnost simulacije. Primer složenijeg zadatka koji robotski sistem treba da reši dat je u nastavku. To je tzv. Tower of Hanoi problem gde je posebno detaljno razmatran i rešen inverzni kinematski zadatak. Deo programskog koda koji je korišćen za upravljanje simulacijom objašnjen je i dat na kraju rada.

This paper presents some of the capabilities of Webots-a robotics simulation software. Using Webots as the development environment one can obtain model, program as well as simulate robots. First, key features and components of Webots are described and then it is presented how to construct a model of robotic system in it. Then, a control system is designed based on mathematical model of robot system in order to solve the problem of positioning of the end-effector. Results obtained in Webots environments are compared with those from Matlab/Simulink, so one can confirm the control system design procedure and accuracy of physics simulation. An example of more complex task that the robot manipulator needs to execute is given in the remainder of this paper. It is a so called Tower of Hanoi problem, where is particularly solved the inverse kinematics problem in detail. A part of C programming code which has been used for controlling the robot in Webots is explained at the end.