Research And Development Of Rapid Prototyping Experiment Device For Education Robot Control System

Robot technology, a comprehensive cutting-edge discipline, integrates the research results involved in mechanical, electronic, computer, information processing, artificial intelligence, etc. With the deepening of robotics education, robotics has become an ideal learning carriers and innovative experiment platform. At present, the development of education robot is unbalance. Compared with the advanced technology of Europe, USA, Japan and other countries, the domestic education robot is few varieties products and single function, especially the products applied to college teaching.The rapid prototyping experiment device for education robot control system in this thesis is an experimental platform applied to college students learning and practice in control theory. This platform, user-friendly, easy operation, rich interface, and strong expansion, can quickly establish simulation model, write control algorithm, support data acquisition and parameter adjustment. It can automatically compile real-time code and downloaded to the DSP target board to achieve the hardware-in-loop simulation and control.This thesis, firstly analyzed the development and application of current education robot in domestic and abroad and then studied the technology of rapid prototyping, pointed out the problems of existing educational robot product and the shortcoming of traditional development process for control system, put forward the overall structure and development programs in rapid prototyping experiment device of education robot control system.This thesis designed and developed the hardware and the software of rapid prototyping experiment device of education robot control system according to the overall structure. In hardware, this thesis developed the Bottom control subsystem, Communication subsystem and Driving subsystem. In software, it opened up the Man-machine interface, Simulink rapid prototyping subsystem, Bottom software subsystems and Interface subsystem.Finally, based on the joint control experiment of the hardware system and software system, this thesis completed data acquisition, parameters adjustment, system model simulation and real-time control in hardware circuit, realized the rapid prototyping of basic control algorithm.