Simulation platform for validating a software and material architecture of a robot

A simulation platform (110) for validating a device including a programmed computer (12) for executing an algorithm (10), said device being intended to be loaded on board a robot and to be connected to a sensor (30, 32) of the robot for receiving a measurement signal and to an actuator (40, 46) of the robot for transmitting to it a control signal, the platform being intended to be connected to the computer and including a computing means able to execute the instructions of a simulation program (300) including:

• a module for configuring a three-dimensional environment (310), for generating a virtual three-dimensional environment;
• a module for simulating a response of the sensor of the robot (320, 330), for generating output data corresponding to simulated measurement signals, from modeling of the behavior of the sensor of the robot and from input data formed by the generated virtual environment and by computed cinematic quantities of the robot, said simulated measurement signals being applied at the input of the computer of the device;
• a module for simulating dynamics of the robot (340), for computing cinematic quantities of the robot, from modeling of the actuator of the robot and from input data corresponding to characteristic dynamic parameters of the robot, to control signals transmitted by the computer of the device and to the generated virtual environment,
• characterized in that the simulation program further includes a module for ordering in time (350), including:
• a logic clock (410) delivering the current logic instant;
• an ordering scheme (400), associating with each logic instant a set of actions to be carried out;
• a sub-module for calling upon a simulation action (440) able to start, at the current logic instant delivered by the logic clock and depending on the whole of the actions associated with this current logic instant by the ordering scheme, the carrying out of a simulation action corresponding to the execution of the module for simulating the response of the sensor or of the module for simulating dynamics of a robot;
• and,
• a sub-module for calling upon an action of reaction of the robot (450), starting, at the current logic instant delivered by the logic clock and depending on the whole of the actions associated with this current logic instant by the ordering scheme, the carrying out of a response action of the robot corresponding to the processing by the computer of the device, of simulated measurement signals applied at the input of the computer at the current logic instant, for generating control signals at the current logic instant.