1.      Platform Introduction

The cascade SDOF mechanical arm (teaching version) mainly consists of a fast control prototype system, teaching-version six-axis robot, and image collection and processing units. It can realize target image recognition and information extraction, robot dynamic trajectory planning, positive/inverse kinematics calculation, and six-joint motion control functions. It can fulfill preset experiment tasks such as sorting, capture, transport, etc.

2.      Platform Features

1. User-Friendly Development Environment: The platform, based on Matlab Simulink, develops robot control system models, which greatly reduces the difficulty in learning robot control system design;
2. Excellent Platform Timeliness: The control program runs on the VxWorks real-time OS, and its timeliness can reach the 100us level;
3. Teaching-Version Six-Joint Robot: Axis 1 and axis 2 use servo motors, whereas axes  to 6 use stepping motors; each axis use a planetary reducer, with the precision of up to 0.5mm, thus realizing an overall balance in costs and performance;
4. Diverse Debugging Methods: Supports various development debugging methods, such as online modification of any controller model parameter, online monitoring of any system variable, and real-time storage, offline playback and data export of all observation data.
5. Open-Source Examples: The platform provides fully open-source examples and training documents about robot kinematics and image recognition, giving students reference examples for curriculum design.

3.      Experiment Contents 

l  Entry-level experiment contents:

• Quick start experiment;
• Robot mechanical system knowledge experiment;
• Robot control system knowledge experiment;
• Robot teaching programming and playback control;
• Robot coordinate system establishment

l  Medium-level experiment contents

• Robot forward/inverse kinematics analysis;
• Robot trajectory planning offline simulation experiment;
• Robot space linear and circular motion experiment;
• Robot transport and assembly experiment;

l  Advanced-level experiment contents

• Binocular camera lens parameter calibration experiment;
• Robot visual measurement and positioning experiment;
• Robot target tracking experiment.

4.      Model Selection and Configuration