论文标题
开发用于验证共享控制概念的移动车辆操纵器模拟器
Development of a Mobile Vehicle Manipulator Simulator for the Validation of Shared Control Concepts
论文作者
论文摘要
本文介绍了开发实时模拟器，以验证控制大型车辆操纵器。缺乏这样的模拟器可以证明对这种开发的需求是合理的：既没有开源项目也没有商业产品，这适合测试合作控制概念。首先，我们介绍车辆和操纵器的非线性仿真模型。对于建模，使用MATLAB/SIMULINK，这还可以使代码生成独立的C ++ ROS节点（机器人操作系统节点）。还讨论了代码生成的新兴挑战。然后，在模拟器框架中集成的所获得的独立C ++ ROS节点，其中包括图形用户界面，方向盘和操纵杆。该模拟器可以提供整个系统运动的实时计算，从而实现人类和自动化的相互作用。此外，给出了模型的定性验证。最后，在与人类操作员的测试中证明了模拟器的功能。
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source projects nor commercial products, which would be suitable for testing cooperative control concepts. First, we present the nonlinear simulation model of the vehicle and the manipulator. For the modeling MATLAB/Simulink is used, which also enables a code generation into standalone C++ ROS-Nodes (Robot Operating System Nodes). The emerging challenges of the code generation are also discussed. Then, the obtained standalone C++ ROS-Nodes integrated in the simulator framework which includes a graphical user interface, a steering wheel and a joystick. This simulator can provide the real-time calculation of the overall system's motion enabling the interaction of human and automation. Furthermore, a qualitative validation of the model is given. Finally, the functionalities of the simulator is demonstrated in tests with a human operators.
