虚实结合的低成本开源机器人实验教学平台  

A Low-cost Open Source Robot Experimental Teaching Platform Based on Combination of Virtuality and Reality

作　　者：谭彩铭 张成 陈旭 梁志伟[1,2] 高翔 TAN Caiming;ZHANG Cheng;CHEN Xu;LIANG Zhiwei;GAO Xiang(College of Automation&College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China;Robotics Information Sensing and Control Research Institute,Nanjing University of Posts and Telecommunications,Nanjing 210023,China)

机构地区：[1]南京邮电大学自动化学院、人工智能学院,南京210023 [2]南京邮电大学机器人信息感知与控制研究所,南京210023

出　　处：《实验室研究与探索》2023年第7期118-123,共6页Research and Exploration In Laboratory

基　　金：南京邮电大学教学改革研究项目(JG00522JX21);江苏省高等学校自然科学研究面上项目(20KJB510023);江苏省自然科学基金项目(BK20210599)。

摘　　要：虚实结合的机器人实验教学平台可充分发挥仿真和实体机器人的优势。采用的实体机器人多为品牌机器人,存在成本高、占地大、上手慢、开放性差等问题。将虚实结合方案和低成本开源方案相结合,设计一种基于Matlab低成本开源机械臂的机器人实验教学平台。通过逐步实现机械臂对工件的抓取,加深学生对机器人学中关键知识点的理解。设计并实现单个定时器的6舵机同步驱动方法、基于标志点的简易手眼标定方法以及几何法的快速逆运动学计算方法,进一步提高运行效率降低经济成本。实验结果证实了机械臂抓取方法的有效性。平台具有成本低、便携、上手快、完全开源等特点。The robot experimental teaching platform combining virtual and real can give full play to the advantages of simulation and physical robots,but the physical robots used are mostly brand robots,which have problems such as high cost,large footprint,slow learning,and poor openness.Therefore,combining the virtual-real scheme and the low-cost open source scheme,a robot experimental teaching platform based on Matlab and low-cost open-source robotic arm is designed.By gradually realizing the grasping of the workpiece by the robotic arm,students can deepen their understanding of the key knowledge points in robotics.A synchronous driving method of six steering gears based on a single timer,a simple hand-eye calibration method based on marker points,and a fast inverse kinematics calculation method based on geometric method are designed and implemented to further improve operating efficiency and reduce economic costs.The experimental results confirm the effectiveness of the robotic arm grasping method.The platform has the characteristics of low cost,portability,quick start,and complete open source.

关 键 词：虚实结合 开源机械臂 MATLAB仿真 轨迹规划 机械臂抓取 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]