Designing The Built-In Microcontroller Control Systems of Executive Robotic Devices Using The Digital Twins Technology

摘要

The article presents approaches to the development of robotic systems based on the use of virtual prototypes, known as digital twins. Also, usage of such systems for walking robotic mechanisms are demonstrated by the example of developing an experimental debugging platform that supports both the design of algorithms for robot behavior at the upper level of the control hierarchy and the design of control algorithms for its nodes at the lower level. Authors used different basic tooling systems integrated with each other through cross-platform tools, such as Gazebo, V-Rep, IAR Embedded Workbench, Quartus, Fuzzy51 and several others.