GB/T 33267-2016 in English
VALIDThe interface of robot simulation environment
- Issued on:2016-12-13
- Implemented on:2017-07-01
- File Format:PDF
- Delivery:Within 1 day
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| Standard No: | GB/T 33267-2016 |
| Document status: | VALID |
| Title in English: | The interface of robot simulation environment |
| Title in Chinese: | 机器人仿真开发环境接口 |
| Language: | English |
| File Format: | Electronic (PDF) |
| Delivery: | Within 1 day |
| Issued on: | 2016-12-13 |
| Implemented on: | 2017-07-01 |
| Professional Classification: | GB-National Standard |
| Related Topics: | Industrial environment interface protection
robot development environment standard development environment Development standard environment In vacuum Vacuum environment line to imitate exon emulation robot development One core robot development Special Robotic Environment robot+ near field simulation The role of simulation artificial real hair Development environment security Simulation sample box cultural environment robot GBT33267 GB/T 33267-2016 real hair Fish-like robot Pfeiffer Vacuum Environmental Protection simulator quotes Simulation International Optical Simulation |
《GB/T 33267-2016机器人仿真开发环境接口》由TC591（全国机器人标准化技术委员会）归口，主管部门为中国机械工业联合会。
Introduction
1. Background and significance of the standard
GB/T33267-2016 Robot Simulation Development Environment Interface was proposed by the China Machinery Industry Federation, aiming to unify the interface specifications in the robot simulation development environment. The formulation of this standard fills the gap in interface standardization in the domestic robot simulation field and provides clear technical guidance for robot software and hardware developers.
2. Comparison of standard frameworks
| Standard dimensions | Simulation environment development interface | Hardware-in-the-loop simulation interface | Human-computer interaction interface |
|---|---|---|---|
| Technical requirements | Uniform model description format (XML/URDF) Key parameters: mass, gravity, friction, etc. | Hardware-in-the-loop and rapid control prototyping interface Key technologies: analog input and output (AI/AO), digital input and output (DI/DO) | Graphical user interface functional modularization Key components: 3D scene, simulation player |
| Scope of application | Applicable to robot hardware and software developers | Support physical systems of different structures | Oriented to graphical interactive design |
| Technological evolution | Extended from single model description to multi-scenario support | Transition from pure virtual simulation to semi-physical simulation | From single function to modular interactive design |
3. Interpretation and implementation suggestions of standard technology
3.1 Implementation of model construction interface
The core of model construction interface is to unify the model description format. Based on XML or URDF format in ROS, the compatibility problem between different model files can be effectively solved. For example, in the underwater robot simulation environment, specific parameters can be extended to meet special needs.
3.2 Optimization of control algorithm interface
By standardizing the control algorithm interface, rapid development and reuse of algorithm modules can be achieved. It is recommended that developers unify interface standards in the simulation environment to avoid calling problems caused by inconsistencies.
3.3 Application of semi-physical simulation
Hardware-in-the-loop simulation and rapid control prototyping simulation are important components of semi-physical simulation technology. It is recommended to give priority to real-time data communication protocols (such as TCP/IP) during the development process to ensure the real-time and accuracy of the simulation.
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