【摘要】 针对关节型机械臂运动状态实时监控问题,以Dobot为研究对象,采用联合SolidWorks与MATLAB进行运动学建模的方法,建立机械臂机械系统模型和可视化运动学模型。通过设计的GUI界面,实现了机械臂虚拟样机运动状态的实时监控。进一步联合Arduino核心板,搭建Dobot实验平台,对虚拟样机与实体进行联调,完成了虚拟样机与实体机械臂的实时控制。更多还原

【Abstract】 Aiming at the real-time monitoring of the motion state of articulated manipulator,and by taking Dobot as the research object,a manipulator mechanical system model and a visual kinematics model are built by means of SolidWorks and MATLAB to build the kinematics modeling.The virtual prototype movement of the manipulator was monitored in real time through the GUI interface designed in the research.And then,a Dobot experimental platform was built with the Arduino core board,on which,the joint debugging was carried out for the virtual prototype and the real one.Finally,the real-time control was realized on the virtual and real manipulator.更多还原