Research on a Virtual Simulation System for Master-slave Teaching of a Spraying Robot

被引：0
|
作者：
Feng, Kai [1 ]
Wang, Zhengyu [1 ]
Zi, Bin [1 ]
Wang, Daoming [1 ]
Qian, Sen [1 ]
机构：
[1] Hefei Univ Technol, Sch Mech Engn, Hefei, Anhui, Peoples R China
来源：
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年
基金：
国家重点研发计划;
关键词：
Spraying robot; Virtual simulation; Master-slave teaching; Kinematics model; Mapping algorithm;
D O I：
10.1109/icma.2019.8816417
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a study on a virtual simulation system for master-slave teaching of a spraying robot. Firstly, by studying the present situation at home and abroad, the importance of virtual simulation system is shown. Then according to the characteristics of spraying robot master-slave teaching, the structure of the system is established. After the requirement analysis and function analysis of the virtual system, the framework of the virtual simulation system is established. In order to realize the function of master-slave teaching, the kinematics analysis of master and slave manipulator and the determination of master-slave mapping algorithm are carried out. And the position information collected by the master manipulator is smoothed. Through the above work, the master-slave teaching virtual simulation system is established, and the effectiveness of the system is verified by practical operation. Therefore, the virtual simulation system for master-slave teaching of a spraying robot is effective and feasible.
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页码：403 / 408
页数：6
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