Research on the Simulation Control System of Dual Arm Robot Based on Unity3D
In response to the problem of multiple degrees of freedom and difficulties in controlling humanoid dual arm robots,a virtual simulation control system for robots is designed and implemented based on the Unity3D engine and Android Studio.Firstly,the 3D CAD model of the dual arm robot is imported into Unity3D to create a virtual scene of the robot.For the virtual simulation of robots,parent-child relationships for constraints and linkage are adopted in forward kinematics,while final IK is implemented in reverse kinematics,with key joints and their weights configured,and rotation restrictions set.In terms of communication,Bluetooth is used for real-time communication,and library files and call interfaces are written in Android Studio to enable Unity3D to call Android Bluetooth and complete data transmission on the mobile end.For the receiving end,the BLE Bluetooth module is used to receive and analyze data in order to obtain the correct data to drive the robot's motion.Finally,the interaction interface is implemented using the UGUI in Unity3D,and its Button component is used to flexibly design the interaction process and call response events.The simulation control system can achieve real-time wireless communication and can perform various control modes.The visual interface provides users with a good human-computer interaction experience.The control interface based on virtual simulation makes user operating easier and promotes the widespread application of humanoid dual arm robots in entertainment,service,and life fields.
Unity3Ddual arm robotvirtual simulationBluetooth communicationcontrol system
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