独轮机器人实验平台

Experimental platform for single-wheel robot

独轮机器人融合了机械、电子、计算机、自动控制等多学科知识,开展独轮机器人实验对培养学生综合运用理论知识解决工程实际问题的能力具有重要的推动作用。针对“移动机器人与智能技术”课程教学需要,开发了由独轮机器人、上位机调试软件和“8”字形轨道组成的独轮机器人实验平台。实验验证了机器人机械结构设计、硬件电路设计、控制算法以及软件设计的可行性、有效性。利用该实验平台开设了独轮机器人拆装与设计,控制电路设计与测试,上位机软件开发与调试,横滚、俯仰平衡控制,转向循迹控制等实验项目。通过该课程的学习,学生在智能机器人领域的系统设计和创新实践能力得到了明显提高。

The single-wheel robot integrates multi-disciplinary knowledge such as machinery,electronics,computers,and automatic control,and the experiment of the single-wheel robot plays an important role in cultivating students’ability to comprehensively apply theoretical knowledge to solve practical engineering problems.In view of the teaching needs of“Mobile robots and intelligent technology”,an experimental platform for the single–wheel robot is developed,which is composed of a single-wheel robot,upper computer debugging software and an“8”track.The experiment verifies the feasibility and validity of the robot mechanical structure design,hardware circuit design,control algorithm and software design.The experiment platform is used to design and disassemble the single wheel robot,to design and test the control circuit,to develop and debug the upper computer software,to control the roll and pitch balance,and to control the steering track.Through the study of this course,students’system design ability and innovative practice ability in the field of intelligent robots have been significantly improved.