基于Simulink∕RTW的机器人遥操作系统的设计与实现

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.

Design and Implementation of Robot Teleoperation System Based on Simulink/RTW

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．