摘要
针对机器人技术基础课程的实验需求,设计一套模块化移动机器人底盘实验平台。该实验平台涉及机械设计、运动学分析和控制算法等理论知识。利用该实验平台开发电机控制、四轮差动运动学、三轮全向运动学和四麦克纳姆轮全向运动学等实验项目,实验结果验证实验平台机械结构、硬件系统、软件编程及相关控制算法的可行性和有效性。通过该实验平台,可以显著提升学生的创新实践能力。
According to the experimental requirements of the course Fundamentals of Robot Technology, a set of modular mobile robot chassis experimental platform is designed. The experimental platform involves mechanical design, kinematics analysis,control algorithm and other theoretical knowledge. Using the experimental platform, experimental projects such as motor control,four-wheel differential kinematics, three-wheel omni-directional kinematics and four mcnamu wheel omni-directional kinematics are developed. The experimental results verify the feasibility and effectiveness of the mechanical structure, hardware system, software programming and related control algorithms of the experimental platform. Through this experimental platform, students’ innovative practice ability can be significantly improved.
作者
刘相权
张万杰
LIU Xiangquan;ZHANG Wanjie
出处
《科技创新与应用》
2023年第8期5-9,14,共6页
Technology Innovation and Application
基金
北京信息科技大学2021年度教学改革立项项目(2021JGZD01)。
关键词
模块化
移动机器人
实验平台
运动学
教学
modularization
mobile robot
experimental platform
Kinematics
teaching
