六自由度机械手仿真与实训平台开发  

Development of Simulation and Training Platform for 6-DOF Manipulator

作　　者：彭芳[1] 于楚泓 杨亮[1] 黎萍[1] 邓文彬 PENG Fang;YU Chuhong;YANG Liang;LI Ping;DENG Wenbin

机构地区：[1]电子科技大学中山学院

出　　处：《中国教育技术装备》2019年第10期12-15,共4页China Educational Technology & Equipment

基　　金：广东省教育厅重点平台及科研项目“基于机器视觉的工业机器人位置伺服控制研究”(项目编号：2017KTSCX208);电子科技大学中山学院创新创业教育课程和应用型人才培养课程建设项目(专业综合创新实践，项目编号：X-CXCYKC201702);大学生创新创业训练计划项目“基于ARM+FPGA的多轴机械手控制系统开发”(项目编号：201811545026)

摘　　要：针对目前六自由度机械手的实验项目大多采用示教编程练习和二次开发使用,实验项目与机器人技术教学内容脱节等问题,提出一种模块化结构的仿真平台和实训平台相结合的实验平台建设方案,利用MATLAB与ADAMS开发仿真平台,实现机械手的正逆运动学求解、轨迹规划、运动学和动力学仿真,开发基于ARM+FPGA架构的开放式底层控制平台,设计HMI人机交互界面,编写C语言算法程序实现机械手轨迹控制。实验平台具有层次递进、易于扩展、深入底层控制等特点。实践证明,该平台在本科教学和毕业设计中取得良好效果。At present,most of the experiment items of the 6-DOF manipulator are implemented by teaching-programming practice or secondary development,which is out of touch with the teaching content of Robot Technology.A modular structure platform of combining simulation and training is proposed.MATLAB and ADAMS are used to develop the simulation platform which realizes the forward and reverse kinematics solution,trajectory planning,kinematics and dynamics simulation of the manipulator.An open low-level control platform based on ARM+FPGA architecture is also developed.HMI man-machine interactive interfaces are designed and the trajectory control of manipulator is realized by programming algorithm in C language.The experimental platform has the characteristics of progressive hierarchy,easy extension and deep low-level control.The practice shows that the platform has achieved good results in undergraduate teaching and graduation design.

关 键 词：六自由度机械手 机器人技术 仿真平台 实训平台 控制系统 MATLAB 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]