YouBot机器人动态控制与示教编程研究  

Research on Dynamic Control and Teaching Programming of YouBot Robot

作　　者：渠慎林 温秀兰[1] 唐国寅 伍凡 倪浩君 赫忠乐 QU Shen-lin;TANG Guo-yin;WU Fan;WEN Xiu-lan;HE Zhong-le;NI Hao-jun(School of Automation,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院自动化学院,江苏南京211167

出　　处：《南京工程学院学报（自然科学版）》2022年第4期18-23,共6页Journal of Nanjing Institute of Technology(Natural Science Edition)

基　　金：国家自然科学基金项目(51675259);南京工程学院大学生科技创新基金项目(STB202217003);江苏省大学生实践创新训练计划项目(202111276030Z)。

摘　　要：为解决YouBot机械臂编译控制繁琐、灵活性差、无法离线示教、学生对机器人底层控制理论难以理解等问题,设计一种基于ROS的机器人动态控制软件,利用python和C++语言编写动态参数的相关配置文件,生成机械臂动态配置平台.该平台不仅能通过上位机拖动参数调节滑块完成动作组实验,还可以通过ROS_bag记录完成示教编程实验、运动分析实验等.该平台解决了YouBot机器人示教编程难、机械臂控制复杂的问题,且基于当下流行的机器人开发平台和算法语言,有助于学生理解机器人的底层控制原理、提高创新实践能力,适用于自动化、机器人等专业领域作为实验课程推广教学.With a good open source development environment,KUKA YouBot robots are widely used in technical development and verification of operation algorithms,as well as education and training of students in general robot technology.In order to solve the problems of cumbersome compilation and control of YouBot manipulator,low flexibility,inability to teach offline,and students’urgent need to improve the underlying control theory of robots,this paper designs a ROS-based robot dynamic control software,which uses python and C++languages to write dynamic parameters.The relevant configuration files of the robot arm are generated to generate the dynamic configuration platform of the robot arm.The platform can not only complete the action group experiment by dragging the parameter adjustment slider by the host computer,but also complete the teaching programming experiment and motion analysis experiment through the ROS_bag record.The platform solves the problems of difficult teaching and programming of YouBot robot and complicated control of the robotic arm.Based on the current popular robot development platform and algorithm language,it helps students to understand the underlying control principles of robots and improve their innovative practice ability.Also,it is suitable for expanding the teaching of automation and robotics as an experimental course.

关 键 词：YouBot机器人 ROS 动态控制 示教编程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]