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首页> 外文会议>Annual American Control Conference >Development of a Portable Hybrid Pendubot-Acrobot Robotic Platform for On and Off-Campus Teaching and Learning
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Development of a Portable Hybrid Pendubot-Acrobot Robotic Platform for On and Off-Campus Teaching and Learning

机译：开发便携式混合柱魔术师的机器人平台，用于校外教学和学习

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摘要

The study of underactuated robotics, especially with hardware implementation, has received more and more attention recently. Many existing underactuated robotic systems were often built with complicated structures and algorithms that prohibit learners from acquiring knowledge easily. Given the increasing demand on the online teaching and off-campus learning due to the pandemic, more portable and multifunctional platforms with open-source software are desirable. However, even for those simple underactuated robotic systems such as the Pendubot and the Acrobot, their existing hardware may not satisfy the new requirement due to their bulkiness, portability, and monofunctional setting. In this paper, we propose a portable Hybrid Pendubot-Acrobot Robotic (HPAR) platform that can offer three different types of pendulum modes in one single compact design. We will introduce this platform from its design goals, mechanical design, electronics, and control development. An accompanied simulator and related CAD files will be provided in the sense of open source. Finally, experiments are shown to demonstrate the versatility and usability of the proposed platform in the study of underactuated robotics.
机译：对欠渎主的机器人，特别是在硬件实施中的研究最近得到了越来越多的关注。许多现有的欠渎主的机器人系统通常由复杂的结构和算法构建，禁止学习者轻松获取知识。鉴于在线教学和外校外学习的需求越来越多，需要具有开源软件的大流行，更多便携和多功能平台。然而，即使对于那些简单的欠渎主的机器人系统，如拼图和杂志，它们的现有硬件也可能不满足新的要求，因为它们的膨胀，可移植性和单官能设置。在本文中，我们提出了一种便携式的混合柱 - 魔术机器人（HPAR）平台，可以在一个紧凑的设计中提供三种不同类型的摆锤模式。我们将从其设计目标，机械设计，电子设备和控制开发中介绍该平台。伴随的模拟器和相关的CAD文件将在开源的感觉中提供。最后，示出了实验来证明所提出的平台在欠扰动机器人研究中的典型平台的多功能性和可用性。

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