机器人视觉引导运动控制虚拟仿真平台设计

Design of Virtual Simulation Platform for Robot Vision Guided Motion Control

针对机器人领域技术发展快、知识综合性强、应用场景复杂等特点,基于机器人视觉感知与控制技术国家工程实验室中真实的设备,开发了一套“机器人视觉引导运动控制虚拟仿真平台”,并设计了配套的课程教学资源,应用于自动化、机器人专业的综合设计教学课程。实验采用“虚实结合,科教融合”的设计理念,系统性地融合了机器视觉、机器人运动学求解、机器人控制编程、工控系统设计与虚拟调试等知识,实验平台具有良好的保真性和开放性,能够面向新工科人才需求培养学生的综合实践能力和创新能力。

In view of the rapid technology development,strong knowledge comprehensiveness and complex application scenarios in the robot field,a set of"virtual simulation platform for robot vision guided motion control"is developed based on the real equipment in the National Engineering Laboratory of Robotic Visual Sensing&Control Technology,as well as the corresponding teaching project.The platform and teaching project adopts the design concept of"combination of virtual and real,integration of research and education",and systematically integrates the knowledge of machine vision,robot kinematics solving,robot control programming,industrial control system design and virtual debugging.The experimental platform has good fidelity and openness,which can meet the needs of new engineering talents and cultivate studentscomprehensive practical ability and innovation ability.