【作者】 赵奇； 李彦涛； 张立勋；

【Author】 ZHAO Qi,LI Yantao,ZHANG Lixun School of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China

【机构】 哈尔滨工程大学机电工程学院；

【摘要】 基于Matlab/Simulink中的xPC目标,实现了基于视觉反馈的助餐机器人实时控制系统。开发了助餐机器人所需的接口硬件模块和相配套的上位机软件模块。该控制系统可将Simulink框图下载到目标机中,通过实时以太网与功能接口模块进行通信,实现了助餐机器人的实时控制。通过助餐机器人的样机试验,验证了本控制系统的原理样机在快速原型设计和硬件在回路仿真方面的可行性。更多还原

【Abstract】 Real-time control system of aid dining robot built upon visual feedback is achieved base on xPC target module of Matlab/Simulink.Interface hardware and corresponding software of host computer required by aid dining robot is developed.Real-time control of the robot is implemented by the target computer that executed the code converted by the Simulink diagram and the interface module that communicate with the target computer through real time Ethernet Practicability in the aspect of hardware in loop(HIL)simulation and rapid prototyping is demonstrated through the prototype test of the robot.更多还原