机器人学基础课程轨迹规划仿真教学研究
Research on Simulation Teaching of Trajectory Planning of Basic Course of Robotics
李壮 1方贞琪 1王兴宇 1唐乐 1陈章宝1
作者信息
摘要
机器人轨迹规划技术是机器人学基础课程中的核心内容,是研究机器人、机械臂等系统的重要理论基础,课程体现了较强的实践性,理论知识涉及三维空间,公式推导过程较为复杂、抽象.应用MATLAB中强大的数值计算和可视化功能,结合轨迹规划中理论公式对机器人轨迹进行规划、分析.通过数值仿真对机器人笛卡尔空间、关节空间的轨迹进行规划,让学生直观地学到轨迹规划理论,掌握从公式推理到数值仿真的实践过程,增强学生对轨迹规划的理解,提高学生的专业知识能力,提升教学效果.
Abstract
Robot trajectory planning technology is the key chapter in the basic course of robotics,and it is an important theoretical basis for the research of robot for robot arm and other systems.The course embodies strong practicality,its theoret-ical knowledge involves three-dimensional space,the theory is relatively complex and abstract,the formula derivation pro-cess also is complex.The powerful numerical calculation and visualization functions in MATLAB are applied to plan and ana-lyze the trajectory of the robot in combination with the theoretical formulas in trajectory planning.Through numerical simula-tion,the trajectory planning of robot cartesian space and joint space is carried out,so that students can intuitively learn the trajectory planning theory,master the practical process from formula reasoning to numerical simulation,enhance students'un-derstanding of trajectory planning,improve their professional knowledge and ability,and enhance the teaching effect.
关键词
轨迹规划/MATLAB/关节空间/笛卡尔空间/数值仿真Key words
trajectory planning/MATLAB/joint space/cartesian space/numerical simulation引用本文复制引用
出版年
2024
NETL
NSTL
万方数据