基于 V-REP 的机器人仿真实验系统及教学

Lianzheng Ge; Lijun Zhao

doi:10.16791/j.cnki.sjg.2021.03.027

基于 V-REP 的机器人仿真实验系统及教学

Translated title of the contribution: Robotic simulation experiment system based on V-REP and teaching

Lianzheng Ge
, Lijun Zhao^*

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

Robot design needs to adopt the process of “design, simulation and optimization”, so simulation technology is also a skill that must be mastered by undergraduates majoring in robot engineering. This paper designs a 6-DOF general industrial robot simulation experiment system based on V-REP simulation software. Firstly, the V-REP model of the robot is established, and the system dynamic parameters are set. Then, the joint simulations and verifications are carried out using the trajectory planning algorithm of MATLAB. Online experiment teaching and exploration are carried out, which can replace the field experiment in the laboratory. The simulation experiment system can carry out the simulation experiments of robot kinematics, dynamics and trajectory planning algorithm, and can improve students’ robot theoretical analysis and design ability.

Translated title of the contribution	Robotic simulation experiment system based on V-REP and teaching
Original language	Chinese (Traditional)
Pages (from-to)	132-135
Number of pages	4
Journal	Experimental Technology and Management
Volume	38
Issue number	3
DOIs	https://doi.org/10.16791/j.cnki.sjg.2021.03.027
State	Published - Mar 2021

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title = "基于 V-REP 的机器人仿真实验系统及教学",

abstract = "Robot design needs to adopt the process of “design, simulation and optimization”, so simulation technology is also a skill that must be mastered by undergraduates majoring in robot engineering. This paper designs a 6-DOF general industrial robot simulation experiment system based on V-REP simulation software. Firstly, the V-REP model of the robot is established, and the system dynamic parameters are set. Then, the joint simulations and verifications are carried out using the trajectory planning algorithm of MATLAB. Online experiment teaching and exploration are carried out, which can replace the field experiment in the laboratory. The simulation experiment system can carry out the simulation experiments of robot kinematics, dynamics and trajectory planning algorithm, and can improve students{\textquoteright} robot theoretical analysis and design ability.",

keywords = "V-REP, dynamics, kinematics, robot, trajectory planning",

author = "Lianzheng Ge and Lijun Zhao",

year = "2021",

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doi = "10.16791/j.cnki.sjg.2021.03.027",

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AU - Zhao, Lijun

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N2 - Robot design needs to adopt the process of “design, simulation and optimization”, so simulation technology is also a skill that must be mastered by undergraduates majoring in robot engineering. This paper designs a 6-DOF general industrial robot simulation experiment system based on V-REP simulation software. Firstly, the V-REP model of the robot is established, and the system dynamic parameters are set. Then, the joint simulations and verifications are carried out using the trajectory planning algorithm of MATLAB. Online experiment teaching and exploration are carried out, which can replace the field experiment in the laboratory. The simulation experiment system can carry out the simulation experiments of robot kinematics, dynamics and trajectory planning algorithm, and can improve students’ robot theoretical analysis and design ability.

AB - Robot design needs to adopt the process of “design, simulation and optimization”, so simulation technology is also a skill that must be mastered by undergraduates majoring in robot engineering. This paper designs a 6-DOF general industrial robot simulation experiment system based on V-REP simulation software. Firstly, the V-REP model of the robot is established, and the system dynamic parameters are set. Then, the joint simulations and verifications are carried out using the trajectory planning algorithm of MATLAB. Online experiment teaching and exploration are carried out, which can replace the field experiment in the laboratory. The simulation experiment system can carry out the simulation experiments of robot kinematics, dynamics and trajectory planning algorithm, and can improve students’ robot theoretical analysis and design ability.

KW - V-REP

KW - dynamics

KW - kinematics

KW - robot

KW - trajectory planning

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DO - 10.16791/j.cnki.sjg.2021.03.027

M3 - 文章

AN - SCOPUS:105021411026

SN - 1002-4956

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SP - 132

EP - 135

JO - Experimental Technology and Management

JF - Experimental Technology and Management

IS - 3

ER -

基于 V-REP 的机器人仿真实验系统及教学

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