A Cyber-physical Integrated Modeling Method Oriented for Motion Simulation of Complex Systems

doi:10.16182/j.issn1004731x.joss.22-0097

Abstract

Abstract:

The traditional virtual modeling of motion simulation lacks the dynamic modeling of cyber subsystems and physical subsystems in complex systems. The advantages of the traditional kinematic virtual modeling and cyber calculation are combined, and aiming at the problem that the accuracy and real-time property of motion simulation cannot meet the actual industrial manufacturing requirements, a cyber physical integrated modeling method for the motion simulation of complex systems is proposed. The inconsistency between real robotic driving and virtual robot motion is solved, which is verified by a case study of mechanical arm motion control. A virtuality-reality mapping platform for complex system motion simulation is built, which integrates the modeling environment CoppeliaSim, together with actual robot feedback of motion and mapping model of simulated-actual robot motion, to obtain the unique pose solution of the motion equation. Experimental results show that the proposed method can realize real-time motion simulation of industrial robot.

Key words: complex system modeling, motion simulation, cyber-physical integration, robotic arms, kinematic mapping

CLC Number:

TP391.9

Wenzheng Liu, Heming Zhang. A Cyber-physical Integrated Modeling Method Oriented for Motion Simulation of Complex Systems[J]. Journal of System Simulation, 2022, 34(5): 954-963.

Figures/Tables 7

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