基于QNX-Simulink的机器人创新实验平台研究  

Research on innovative experiment platform of robot based on QNX-Simulink

作　　者：王新庆 陈兆芃[2] 王冬剑[2] 潘军[2] 姜力[2] 

机构地区：[1]中国石油大学(华东)机电工程学院,山东青岛266580 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《实验技术与管理》2015年第7期139-143,163,共6页Experimental Technology and Management

基　　金：国家自然科学青年基金项目(51305460);中央高校基本科研业务费专项资金资助项目(14CX02068A);中国石油大学教学改革重点项目(JY-A201408)

摘　　要：设计了一种基于QNX-Simulink的机器人实时控制平台。该平台采用基于模型的设计方法,通过Simulink进行机器人系统的可视化建模及控制算法编程;经过二次开发Matlab/RTW工具箱自动生成QNX控制代码;以TCP/IP方式进行数据通信,实现对机器人的实时控制。以灵巧手控制平台设计及其位置控制为例,该平台编程简单、调试方便、可移植性较好,仿真结果与实验结果误差趋势一致,证明了该平台的可行性。Due to the problems of difficult coding,inconvenient debugging and poor portability of currently existing robot experiment platform,a real-time control platform is designed using QNX-Simulink.The modelbased design method is utilized,the robot model and control algorithm are visually designed by Simulink;the Matlab/RTW toolbox is partially modified in order to generate the control code automatically;and the TCP/IP protocol is adapted to realize data communication.Taking the platform design and control of a dexterous robot hand as an example,this paper compares the simulation result with the experimentation result,the trend of the error has consistence,which has proved the feasibility of the platform.

关 键 词：计算机仿真 机器人灵巧手 实验平台 实时控制 

分 类 号：G42[文化科学—课程与教学论]