Design And Development Of Educational Robot Experiment System

Educational robot is ideal experimental platform for control theory and engineering, which integrates the mechanics, electronics, computer science, artificial intelligence and some other advanced techniques. As the most import part of educational robot platform, experiment system provides a convenient experimental environment for teaching and research. But the current using experiment system cannot make the best of the performance of educational robot in control theory -related experiments for lacking of extensibility, experimental cases and pertinences. So developing an experiment system that caters to the needs of control theory-related experiment is of vital significance.Supported by the scientific and technological innovational platform of process industry integrated automation founded by "985 project", this dissertation designs and develops an experiment system, which meets the requirement of control theory-related experiment, easy-using, convenient, feature-rich and extensible. Experiment system integrates the virtual simulation experiments and hardware in the loop simulation. The algorithms verified in the simulation experiment can be easily transplanted to hardware in the loop experiment by substituting the interacting modules in the graphical programming environment. And the transplantable algorithms are used to generate real-time code, which can run directly on the educational robot after compiling, linking and downloading.The main task of this dissertation is,1. Requirement analysis of experiment system for educational robot is processed based on the research of deficiencies of present experiment system and status of control theory-related experiments in China.2. Functions and the structure of experiment system are designed. The system is composed of HMI, module libraries and experimental cases in accordance with the overall design and structure, all of which are designed respectively.3. The experiment system is achieved through the method of combining code and graphics programming based on the key technical research. The developing covers GUI, modules of interfaces and algorithms, and experimental cases. The open rule for storage is also brought forward to guarantee the extensibility of experiment system.4. The experiment system is verified and tested. In the experimental environment, both of the hardware in the loop and simulated robot experiments are carried out on the educational robot platform. And the results of all the experiments conclude that the experiment system designed and developed meets the requirement of control theory-related experiments on the educational robot platform.