Development of a Teaching Methodology of Complex Electromechatronic and Robotic Systems
2021 IEEE 19th International Power Electronics and Motion Control Conference (PEMC 2021): Proceedings
2021
Andrejs Stupāns,
Skaidrīte Kriviša,
Armands Šenfelds,
Leonīds Ribickis
The paper describes a process of developing a driving simulator based on KUKA KR600 robot for educational purpose. The main idea is to introduce students to multiple topics-electromechatronics, robotics, inverse kinematics, motion cueing, washout filters. It is cross-disciplinary project. First, students generate car acceleration using Unity game engine's built-in physics. Then they design motion cueing algorithm in Matlab Simulink and transform the accelerations into robot motions. As a result, students check robot motion cues in virtual environment using MOBILE software. Last step is to test generated motions on a real robot manipulator.
Atslēgas vārdi
filters | manipulators | modeling | motion control | robot kinematics | simulation
DOI
10.1109/PEMC48073.2021.9432500
Hipersaite
https://ieeexplore.ieee.org/document/9432500
Stupāns, A., Kriviša, S., Šenfelds, A., Ribickis, L. Development of a Teaching Methodology of Complex Electromechatronic and Robotic Systems. No: 2021 IEEE 19th International Power Electronics and Motion Control Conference (PEMC 2021): Proceedings, Polija, Gliwice, 25.-29. aprīlis, 2021. Piscataway: IEEE, 2021, 644.-648.lpp. ISBN 978-1-7281-5661-3. e-ISBN 978-1-7281-5660-6. ISSN 2469-8741. e-ISSN 2473-0165. Pieejams: doi:10.1109/PEMC48073.2021.9432500
Publikācijas valoda
English (en)