深海仿生机器人控制虚拟仿真实验教学探索  

Exploration on virtual simulation experimental teaching of biomimetic robot control in deep sea

作　　者：李祺 靳荔成[1,2] 王天宇 LI Qi;JIN Licheng;WANG Tianyu(School of Electrical Engineering and Automation,Tianjin University,Tianjin 300072,China;National Virtual Simulation Experimental Teaching Center of Electrical Engineering and Automation,TianjinUniversity,Tianjin 300072,China;College of Intelligence and Computing,Tianjin University,Tianjin 300350,China)

机构地区：[1]天津大学电气自动化与信息工程学院,天津300072 [2]天津大学电气工程与自动化国家级虚拟仿真实验教学中心,天津300072 [3]天津大学智能与计算学部,天津300350

出　　处：《实验技术与管理》2020年第11期135-138,共4页Experimental Technology and Management

基　　金：国家重点研发计划项目(2017YFC0306200);天津大学自主创新基金(2017XGP-0007)。

摘　　要：为提升学生对机器人技术相关课程知识的综合应用能力,该文设计了深海仿生机器人控制虚拟仿真实验。该实验教学项目依托科研成果转化,应用虚拟仿真技术,构建深海复杂作业环境下的多关节仿生机器人。实验教学内容涉及机器人结构设计、姿态控制、路径规划、轨迹跟踪、创新设计5个方面,由理论验证向综合应用、研究设计和创新开发逐步延伸。该项目丰富了实践教学手段,激发了学生的学习热情与自主创新意识,为虚拟仿真实验教学资源的建设开辟了新道路。In order to improve students’comprehensive application ability of robot technology related course knowledge,this paper designs a virtual simulation experiment of deep-sea bionic robot control.The experimental teaching project relies on the transformation of scientific research achievements and the application of virtual simulation technology to construct a multi joint bionic robot in the deep sea complex working environment.The experimental teaching content involves five aspects of robot structure design,attitude control,path planning,trajectory tracking,and innovative design,which is gradually extended from theoretical verification to comprehensive application,research and design and innovative development.This project has enriched practical teaching means,stimulated students’learning enthusiasm and independent innovation consciousness,and opened up a new way for the construction of virtual simulation experiment teaching resources.

关 键 词：深海环境 仿生机器人 虚拟仿真 实验教学 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]