复杂机电与机器人系统教学方法的发展

2021 IEEE 19th International Power Electronics and Motion Control Conference (PEMC) Pub Date : 2021-04-25 DOI:10.1109/PEMC48073.2021.9432500

Andrejs Stupāns, Skaidrīte Kriviša, Armands Senfelds, L. Ribickis

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引用次数: 2

摘要

本文介绍了基于KUKA KR600机器人的教育用驾驶模拟器的开发过程。主要思想是向学生介绍多个主题-机电一体化，机器人，逆运动学，运动线索，冲洗滤波器。这是一个跨学科的项目。首先，学生使用Unity游戏引擎的内置物理生成汽车加速度。然后在Matlab Simulink中设计运动提示算法，并将加速度转换为机器人运动。因此，学生使用MOBILE软件在虚拟环境中检查机器人的运动线索。最后一步是在真实的机械臂上测试生成的运动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of a Teaching Methodology of Complex Electromechatronic and Robotic Systems

The paper describes a process of developing a driving simulator based on KUKA KR600 robot for educational purpose. The main idea is to introduce students to multiple topics – electromechatronics, robotics, inverse kinematics, motion cueing, washout filters. It is cross-disciplinary project. First, students generate car acceleration using Unity game engine’s built-in physics. Then they design motion cueing algorithm in Matlab Simulink and transform the accelerations into robot motions. As a result, students check robot motion cues in virtual environment using MOBILE software. Last step is to test generated motions on a real robot manipulator.

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2021 IEEE 19th International Power Electronics and Motion Control Conference (PEMC)

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