novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.24.152-157novtexmech-1343Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSАнализ инструментов имитационного моделирования мобильных робототехнических платформ с учетом физических законов (обзор)Simulation Modeling of Mobile Robotic Complexes Tool Analysis According to Physical Laws (a Review)КупринМ. С.KuprinM. S.

Студент.

Саратов

Saratov, 410054

kms0207@ya.ruОсиповИ. А.OsipovI. A.

Студент.

Саратов

Saratov, 410054

igoros7755@gmail.comКлючиковА. В.KlyuchikovA. V.

Кандидат технических наук, младший научный сотрудник.

Саратов

Ph.D. in Technology, Junior Researcher, Laboratory of Fundamental and Applied Research, Acting Head of the department "Digital process control in the agro-industrial complex".

Satatov, 410012

krok9407@mail.ruСамохинН. Е.SamokhinN. E.

Студент.

Саратов

 

Saratov, 410054

nikitasamokhin123@yandex.ruСГТУ имени Гагарина Ю.А.РоссияYuri Gagarin State Technical University of SaratovRussian FederationФГБОУ ВО Вавиловский университетРоссияSaratov State University of Genetics, Biotechnology and Engineering named after N.I. VavilovRussian Federation202328032023243152157Copyright © Commercial Publisher «New Technologies», 20232023Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1343

Рассмотрены технологии имитационного моделирования мобильных робототехнических комплексов. Определены основные требования к среде моделирования, такие как: реалистичность результатов, открытый исходный код, расширяемость, производительность системы, возможность использовать код низкого уровня для симуляции. Выявлены наиболее значимые для моделирования характеристики физических движков, а именно: учет физических свойств твердых тел, возможность настройки крутящего момента, стабильность соединений типа "ось", стабильность моделируемой системы многих тел. Проанализированы современные физические движки, такие как: PhysX, ODE, MuJoCo, Bullet, Havok. Выполнен поиск средств моделирования и составлена сравнительная таблица. Исследована возможность использования платформы Unity для разработки средств моделирования механических и электронных компонентов мобильных роботов. Поставлена цель минимизировать издержки на разработку мобильного робота. Поставлена задача создать программный продукт для имитационного моделирования мобильных робототехнических комплексов. Предложено использовать платформу Unity для разработки средств имитации механических и электронных компонентов робототехнической системы. Разработан набор инструментов для создания виртуальных моделей мобильных роботов с использованием Unity. Составлена схема архитектуры полученного программного пакета. Проведены испытания пакета, построена модель мобильной четырехколесной робототехнической платформы. Представлены алгоритмы работы скриптов для моделирования физики твердых тел, кинематических цепей и механических соединений с различным числом степеней свободы.

This article is about the technologies of simulation modeling of mobile robotic complexes. The basic demands for a simulation environment are defined such as realistic results, open-source code, extensibility, performance of system, possibility of usage of low-level code for simulation. Moreover, the most significant characteristics for physics engines are described in the article, specifically solid-state physics, torque setup, stability of "axle" connection, stability of the simulated many-body system. The frequently used physics engines such as PhysX, ODE, MuJoCo, Bullet, Havok are analyzed and the search of modeling services is made in order to make the comparative table. The platform Unity is in focus of this work to show its abilities in modeling of mechanical and electronic parts of mobile robots. The aim of this work is minimizing mobile robots development outgoings. Programming product is given as result of simulation modeling of robotic complexes. The Unity platform is used as the engine for development of simulation tools for mechanical and electronic parts of robotic complex. The set of tools based on Unity engine is developed in order to create virtual models of mobile robots. The architecture of the project was developed in order to determine aspects of creating mobile robots in a simulation modeling environment. The logic of scripts for modeling the solid-state physics, kinematic chains and joints with different degrees of freedom is presented as a result of developing architecture of the project. The package was tested, a model of a mobile four-wheeled robotic platform was built as a result of the test.

имитационное моделированиекомпьютерное моделированиемобильные роботыфизический движокUnitysimulation modelingcomputer modelingmobile robotsphysics engineUnityReferencesInternational Federation of Robotics. "Mobile Robots Revolutionize Industry", available at: https://ifr.org/ifr-pressreleases/news/mobile-robots-revolutionize-industry (accessed: 23.07.2022).International Federation of Robotics. "Mobile Robots Revolutionize Industry", available at: https://ifr.org/ifr-pressreleases/news/mobile-robots-revolutionize-industry (accessed: 23.07.2022).Gonzalez Rodriguez A. G., Gonzalez Rodriguez A. Mobile Robots, Advanced Mechanics in Robotic Systems. Springer, 2011, pp. 41—57.Gonzalez Rodriguez A. G., Gonzalez Rodriguez A. Mobile Robots, Advanced Mechanics in Robotic Systems. Springer, 2011, pp. 41—57.Aarnio P., Koskinen K., Salmi S. Simulation of the hybtor robot. International conference climbing walking robots, Professional Engineering Publishing, 2000, pp. 267—274.Aarnio P., Koskinen K., Salmi S. Simulation of the hybtor robot. International conference climbing walking robots, Professional Engineering Publishing, 2000, pp. 267—274.Ro se A. Kinematic Design, Engineering Haptic Devices, Kern T. (eds), Springer, 2009, pp. 165—190.Ro se A. Kinematic Design, Engineering Haptic Devices, Kern T. (eds), Springer, 2009, pp. 165—190.Germ ann D., Hiller M., Schramm D. Design and control of the quadruped walking robot ALDURO, Int Symp Autom Robot Constr ISARC, 2005.Germ ann D., Hiller M., Schramm D. Design and control of the quadruped walking robot ALDURO, Int Symp Autom Robot Constr ISARC, 2005.Berk aev A. R. Nenashev A. A. Klyuchikov A. V. Development of localization system and positioning of a mobile robot, Mathematical methods in engineering and technology. MMTT, 2020, vol. 12—3, pp. 152—157 (in Russian).Berk aev A. R. Nenashev A. A. Klyuchikov A. V. Development of localization system and positioning of a mobile robot, Mathematical methods in engineering and technology. MMTT, 2020, vol. 12—3, pp. 152—157 (in Russian).Swamidass P . M. SIMULATION MODELS, Encyclopedia of Production and Manufacturing Management, Springer, 2000, pp. 699—700.Swamidass P . M. SIMULATION MODELS, Encyclopedia of Production and Manufacturing Management, Springer, 2000, pp. 699—700.Drumwright E., Shell D. An evaluation of methods for modeling contact in multibody simulation, IEEE Int. Conf. on Robotics and Automation, 2011, pp. 1695—1701.Drumwright E., Shell D. An evaluation of methods for modeling contact in multibody simulation, IEEE Int. Conf. on Robotics and Automation, 2011, pp. 1695—1701.Hummel J. et al. An Evaluation of Open Source Physics Engines for Use in Virtual Reality Assembly Simulations, Lecture Notes in Computer Science. International Symposium on Visual Computing, 2012, pp. 346—357.Hummel J. et al. An Evaluation of Open Source Physics Engines for Use in Virtual Reality Assembly Simulations, Lecture Notes in Computer Science. International Symposium on Visual Computing, 2012, pp. 346—357.Leonova N. L. Sim ulation modeling: lecture synopsis, Higher School of Technology and Energetics, SPbGTURP — St. Petersburg, 2015, 94 p. (in Russian).Leonova N. L. Sim ulation modeling: lecture synopsis, Higher School of Technology and Energetics, SPbGTURP — St. Petersburg, 2015, 94 p. (in Russian).Seugling A., Rolin M. Evaluation of physics engines and implementation of a physics module in a 3d-authoring tool, Ume a University, Department of Computing Science, 2006, 89 p.Seugling A., Rolin M. Evaluation of physics engines and implementation of a physics module in a 3d-authoring tool, Ume a University, Department of Computing Science, 2006, 89 p.Manyuxina A. N. Game e ngine usage for robotic devices modeling systems development, Conference "Integraciya mirovyh nauchnyh protsessov kak osnova obshetvennogo progressa", 2015, pp. 131—137 (in Russian).Manyuxina A. N. Game e ngine usage for robotic devices modeling systems development, Conference "Integraciya mirovyh nauchnyh protsessov kak osnova obshetvennogo progressa", 2015, pp. 131—137 (in Russian).Todorov E. Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo, IEEE Conference on Robotics and Automation (ICRA), IEEE, 2014, pp. 6054—6061.Todorov E. Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo, IEEE Conference on Robotics and Automation (ICRA), IEEE, 2014, pp. 6054—6061.Boeing A., Brunl T. Evalua tion of real-time physics simulation systems, ACM Press, 2007, p. 281.Boeing A., Brunl T. Evalua tion of real-time physics simulation systems, ACM Press, 2007, p. 281.Erez T. Tassa Y. Todorov E. Simulation Tools for Modelbased Robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX, IEEE Conference on Robotics and Automation (ICRA), IEEE, 2015, pp. 4397—4404,Erez T. Tassa Y. Todorov E. Simulation Tools for Modelbased Robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX, IEEE Conference on Robotics and Automation (ICRA), IEEE, 2015, pp. 4397—4404,Tassa Y., Todorov E. IEEE Inte rnational Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.Tassa Y., Todorov E. IEEE Inte rnational Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.Unity — Unity User Manual 2021.3 (LTS) // Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/index.html (accessed 07.09.2022).Unity — Unity User Manual 2021.3 (LTS) // Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/index.html (accessed 07.09.2022).Unity — Introduction to components // Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/Components.html (accessed 07.09.2022).Unity — Introduction to components // Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/Components.html (accessed 07.09.2022).Unity — Scripting // Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/ScriptingSection.html (accessed 07.09.2022).Unity — Scripting // Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/ScriptingSection.html (accessed 07.09.2022).Unity — Plug-ins // Unity User Manual 202 1.3 (LTS), available at: https://docs.unity3d.com/Manual/Plugins.html (accessed 07.09.2022).Unity — Plug-ins // Unity User Manual 202 1.3 (LTS), available at: https://docs.unity3d.com/Manual/Plugins.html (accessed 07.09.2022).Unity — Scripting API: RequireComponent // U nity Scripting API 2021.3 (LTS), available at: https://docs.unity3d.com/ScriptReference/RequireComponent.html (accessed 07.09.2022).Unity — Scripting API: RequireComponent // U nity Scripting API 2021.3 (LTS), available at: https://docs.unity3d.com/ScriptReference/RequireComponent.html (accessed 07.09.2022).Hummel J., Wolff R., Stein T. et al. Advances i n Visual Computing, Lecture Notes in Computer Science, 2012, vol. 7432, pp. 346—357.Hummel J., Wolff R., Stein T. et al. Advances i n Visual Computing, Lecture Notes in Computer Science, 2012, vol. 7432, pp. 346—357.Ivaldi S, Padois V., Nori F. Tools for dynamics sim ulation of robots: a survey based on user feedback, 14th IEEE RAS International Conference on Robotics and Automation, 2014, pp. 842—849.Ivaldi S, Padois V., Nori F. Tools for dynamics sim ulation of robots: a survey based on user feedback, 14th IEEE RAS International Conference on Robotics and Automation, 2014, pp. 842—849.Izyumov A. A., Vinnik A. E., Habibulina N. Y. Mobile robot movement simulation // TUSUR conferation digest. 2020. P. 83—86 (in Russian).Izyumov A. A., Vinnik A. E., Habibulina N. Y. Mobile robot movement simulation // TUSUR conferation digest. 2020. P. 83—86 (in Russian).Mokaeva A. A., Hamukov Y. H., Shautsukova L. Z. Kinematic scheme development of cable control system of "trunk" manipulator device, Izvestiya Kabardino-Balkarsky Scientific Center Russian Academy of Sciences, 2015, pp. 15—22 (in Russian).Mokaeva A. A., Hamukov Y. H., Shautsukova L. Z. Kinematic scheme development of cable control system of "trunk" manipulator device, Izvestiya Kabardino-Balkarsky Scientific Center Russian Academy of Sciences, 2015, pp. 15—22 (in Russian).Afanasiev B. A. et al. Design of all-wheel drive wheeled vehicles. Vol. 1, Moscow, Publishing house of MSTU. 2008, pp. 25—56, 144—182, 435—485 (in Russian).Afanasiev B. A. et al. Design of all-wheel drive wheeled vehicles. Vol. 1, Moscow, Publishing house of MSTU. 2008, pp. 25—56, 144—182, 435—485 (in Russian).Afanasiev B. A. et al. Design of all-wheel drive wheeled vehicles. Vol . 2, Moscow, Publishing house of MSTU, 2008, pp. 152—490 (in Russian).Afanasiev B. A. et al. Design of all-wheel drive wheeled vehicles. Vol . 2, Moscow, Publishing house of MSTU, 2008, pp. 152—490 (in Russian).Unity — Manual: Rigidbody // Unity User Manual 2021.3 (LTS), available at : https://docs.unity3d.com/Manual/class-Rigidbody.html (accessed 06.09. 2022).Unity — Manual: Rigidbody // Unity User Manual 2021.3 (LTS), available at : https://docs.unity3d.com/Manual/class-Rigidbody.html (accessed 06.09. 2022).Unity — Manual: Introduction to collision// Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/CollidersOverview.html (accessed 06.09.2022).Unity — Manual: Introduction to collision// Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/CollidersOverview.html (accessed 06.09.2022).Unity — Manual: Introduction to joints // Unity User Manual 2021.3 (LTS), avail able at: https://docs.unity3d.com/Manual/Joints.html (accessed 06.09.2022).Unity — Manual: Introduction to joints // Unity User Manual 2021.3 (LTS), avail able at: https://docs.unity3d.com/Manual/Joints.html (accessed 06.09.2022).Unity — Manual: Introduction to physics articulations // Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/physics-articulations.html (accessed 06.09. 2022).Unity — Manual: Introduction to physics articulations // Unity User Manual 2021.3 (LTS), available at: https://docs.unity3d.com/Manual/physics-articulations.html (accessed 06.09. 2022).Unity — Scripting API: RequireComponent // Unity Scripting API 2021.3 (LTS), availabl e at: https://docs.unity3d.com/ScriptReference/RequireComponent.html (accessed 07.09.2022).Unity — Scripting API: RequireComponent // Unity Scripting API 2021.3 (LTS), availabl e at: https://docs.unity3d.com/ScriptReference/RequireComponent.html (accessed 07.09.2022).

The authors declare that there are no conflicts of interest present.