Research On Robot Experiment Teaching With Virtual-Actual Combination

The learning of the engineering course needs to complete a large number of experimental operations,to achieve the understanding of the theoretical knowledge points.With many restrictions about school teaching resources,the use of virtual simulation technology,network communication technology to build a combination of experimental platform is an important method to solve this problem.As the current virtual-actual combination platform has some weakness like poor interaction and compatibility,in this paper,a new virtual-actual combination platform which takes the robots in the mechanical discipline as an example is designed.The main research content includes the following aspects.This paper expounds the necessity of constructing the experimental platform by using the theory of new media and autonomous learning.Arming at the demand analysis,the overall framework of the experimental platform is designed.Choosing the robot as the experimental object,the paper establishes theoretical model and solve inverse kinematics equation.In the Cartesian space coordinate system,the trajectory planning of the linear motion of the robot is carried out.By improving the traditional uniform acceleration and deceleration linear trajectory algorithm,the triangular function is used to eliminate the rigid impact and the flexible impact during the motion.In the virtual simulation design,the paper researches how to realize the virtual development and how to deploy the network under the browser and server mode,including three-dimensional modeling,COLLADA file generation,how to achieve interaction in WebGL and Apache server.In the physical remote control,the paper researches how to remotely control the robot rationally and the feedback of video information.The main technology is included in the TCP network communication module,queue management,data transmission,trajectory planning,instruction resolution and video transmission via WebRTC.Taking the DRBOT as an example,the experiment of the robot course is carried out according to requirements of the robot teaching experiment.And comparing with the theoretical result,the experiment is feasible and accurate.The experimental results show that the system is stable and compatible.The use of HTML5 to develop virtual-actual combination platform doesn't need any plug-ins and has better compatibility,which has good practical value for the development of experiment teaching.