摘要
针对《机器人学》课程的实验项目,文章提出基于系统模型的创新设计方法,它采用可视化建模技术,结合嵌入式控制器对机器人进行实时控制、数据采集和分析,设计过程中采用了虚实结合的方式,利用数字孪生技术的优点,实现虚拟仿真与物理实体运动无缝结合。采用此方法对六轴协作机械臂运动学、动力学控制进行了设计,整个实验设计过程及控制结果表明,此方法简单有效,可以有效提高学生面向工程实践的创新设计能力。
Aiming at the Robotics curriculum experiments design,this paper puts forward an innovation design method based on the system model.This design method uses visualized modeling method and combines with embedded controller to realize real-time control,data acquisition and analysis of complex robot system.In the design process,virtual simulation was combined with physical System,and the advantages of digital twin technology are utilized to realize the seamless combination of virtual simulation and real motion.In this paper,this method is used to design the kinematics and dynamics control of open source six-axis cooperative manipulator.The experimental design results shows that this method is simple and effective,which can improve the engineering practice oriented innovative designing abilities of students.
作者
殷建
YIN Jian(Tongling University,Tongling Anhui 244061,China)
出处
《铜陵学院学报》
2021年第2期103-105,共3页
Journal of Tongling University
基金
安徽省质量工程项目线上线下混合式课程“机器人学”(2020xsxxkc451)
铜陵学院教学改革与实践项目“工程认证视角下地方应用型本科机电类学生多模式创新培养研究”(2019xj021)。
