| 教学机器人综合实验平台设计与研发 |
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| 引用本文： | 王东霞,赵艺兵,温秀兰,崔伟祥,渠慎林.教学机器人综合实验平台设计与研发[J].南京气象学院学报,2021,13(3):327-331. |
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| 作者姓名： | 王东霞 赵艺兵 温秀兰 崔伟祥 渠慎林 |
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| 作者单位： | 南京工程学院 自动化学院, 南京, 211167,南京工程学院 工业中心/创新创业学院, 南京, 211167,南京工程学院 自动化学院, 南京, 211167,南京工程学院 自动化学院, 南京, 211167,南京工程学院 自动化学院, 南京, 211167 |
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| 基金项目： | 国家自然科学基金（51675259）；南京工程学院教学研究项目（2019YB09）；南京工程学院课程建设项目（YZKC2019032） |
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| 摘 要： | 为了提升机器人工程专业学生综合实践能力，本文设计了一款集机、电、控、图像处理于一体的教学机器人实验平台，将机器人机械结构设计、运动学分析、运动控制、图像处理等技术有机融合，不仅提供了机器人关节装配及实物图演示实验，易于学生理论联系实际深入掌握机器人机械结构及工作原理，而且基于开放的控制实验平台，能够完成机器人的运动学分析、驱动控制、轨迹规划、图像处理及基于视觉引导的物体识别与抓取等实验.该实验平台具有很强的综合性和可操作性，激发了学生的学习兴趣，使学生工程实践与创新能力得到有效提升.
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| 关 键 词： | 教学机器人 机械结构设计 运动学分析 运动控制 视觉引导 |
| 收稿时间： | 2021/3/23 0:00:00 |
Design of a teaching robot comprehensive experimental platform |
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| WANG Dongxi,ZHAO Yibing,WEN Xiulan,CUI Weixiang and QU Shenlin.Design of a teaching robot comprehensive experimental platform[J].Journal of Nanjing Institute of Meteorology,2021,13(3):327-331. |
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| Authors: | WANG Dongxi ZHAO Yibing WEN Xiulan CUI Weixiang and QU Shenlin |
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| Institution: | School of Automation, Nanjing Institute of Technology, Nanjing 211167,Industrial Center/School of Innovation and Entrepreneurship, Nanjing Institute of Technology, Nanjing 211167,School of Automation, Nanjing Institute of Technology, Nanjing 211167,School of Automation, Nanjing Institute of Technology, Nanjing 211167 and School of Automation, Nanjing Institute of Technology, Nanjing 211167 |
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| Abstract: | In order to improve the comprehensive practical ability of students majoring in robot engineering,a teaching robot experimental platform which integrates machinary,electricity,control and image processing is designed and developed in this paper.As a platform integrates robot mechanical structure design,kinematics analysis,motion control and image processing,it is able of joint assembly and demonstration experiments,which avails students to understand robot''s mechanical structure and working principle,and more importantly,it is developed as an open control experimental platform that can complete complex experiments such as robot kinematics analysis,drive control,trajectory planning,image processing,and object recognition & grasp under vision guidance.Strong in integration and manipulability,the designed experimental platform can stimulate students'' learning interest and improve their engineering practical and innovative ability effectively. |
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| Keywords: | teaching robot mechanical structure design kinematics analysis motion control visual guide |
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