[1]仲 飞,钟 伟,黄 磊.基于Simulink∕RTW的机器人遥操作系统的设计与实现[J].机械与电子,2021,(07):70-74.
　ZHONG Fei,ZHONG Wei,HUANG Lei.Design and Implementation of Robot Teleoperation System Based on Simulink / RTW[J].Machinery & Electronics,2021,(07):70-74.
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基于Simulink∕RTW的机器人遥操作系统的设计与实现()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年07期
页码:
70-74
栏目:
智能工程
出版日期:
2021-07-19

文章信息/Info

Title:
Design and Implementation of Robot Teleoperation System Based on Simulink / RTW
文章编号:
１００１-２２５７ ( ２０２１ ) ０７-００７０-０５
作者:
仲 飞; 钟 伟; 黄 磊
江苏科技大学机械工程学院,江苏 镇江 ２１２００３
Author(s):
ZHONG Fei ;  ZHONG Wei ;  HUANG Lei
( School of Mechanical Engineering , Jiangsu University of Science and Technology , Zhenjiang ２１２００３ , China )
关键词:
遥操作系统; RTW; 联合仿真; 控制
Keywords:
teleoperation ;  RTW ;  joint simulation ;  control
分类号:
TP２４２
文献标志码:
A
摘要:
以实际工业应用为背景,基于Simulink / RTW,设计了一套机器人遥操作系统.在SolidWorks软件和MATLAB / Simulink环境下,分别构建了从机械手的三维模型和遥操作系统的控制模型,通过合适的软件接口,实现了遥操作系统的可视化联合仿真.在此基础上,通过Simulink / RTW工具箱,配合封装的I / O硬件功能模块,实现了快速原型代码的自动生成.使用Links Box实时仿真器作为下位机,通过电机运动控制卡实现与各关节电机驱动及各类传感器的连接,完成遥操作系统的设计.最后,对遥操作系统进行实验验证及性能分析.实验结果验证了该遥操作系统的正确性和有效性.
Abstract:
Taking the actual industrial application as the background , based on Simulink / RTW , a set of robot teleoperation system was designed．In the SolidWorks software and MATLAB / Simulink environment , the three-dimensional model of the manipulator and the control model of the teleoperation system were constructed respectively , and the visual co-simulation of the teleoperation system was realized through the appropriate software interface．On this basis , through the Simulink / RTW toolbox and the packaged I/O hardware function modules , the automatic generation of rapid prototyping code was realized．The Links-Box real-time simulator was used as the lower computer to realize the connection with the motor drives of each joint and various sensors through the motor motion control card , and complete the design of the teleoperation system． Finally , experimental verification and performance analysis on the teleoperation system were carried out． Experimental results show that the teleoperation system is correct and effective．

参考文献/References:

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相似文献/References:

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备注/Memo

备注/Memo:
收稿日期: ２０２１-０３-１７
基金项目:国家自然科学基金面上项目( ５１６７５２４７ );江苏省自然科学基金( BK２０１８１４６７ )
作者简介:仲 飞 ( １９９６－ ),男,江苏宿迁人,硕士研究生,研究方向为机器人遥操作系统;钟 伟 ( １９８３－ ),男,广西苍梧人,副教授,硕士研究生导师,研究方向为气动电子技术、工业自动化测试及控制.
更新日期/Last Update: 2021-07-19