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首页> 外文期刊>IJIDeM: International Journal on Interactive Design and Manufacturing >Teaching forward kinematics in a robotics course using simulations: transfer to a real-world context using LEGO mindstorms (TM)
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Teaching forward kinematics in a robotics course using simulations: transfer to a real-world context using LEGO mindstorms (TM)

机译：使用模拟在机器人课程中教授前瞻性运动学：使用乐高思维（TM）转移到真实的背景

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摘要

Previous studies show that traditional teaching methods such as oral explanations and PowerPoint presentations can be complemented with the use of computer simulations in problem-solving sessions to teach robotics. Nevertheless, these previous works rest upon the assumption that the knowledge that is learned in virtual laboratories transfers to its equivalent real task. The main contribution of this work is to validate that the knowledge obtained by students in an undergraduate robotics course using computer simulations of 3D model robots can be applied to its real-world context. The experimental platform used to run the computer simulations was based on the Simscape Multibody library of the MATLAB (TM) software. Results show a satisfactory knowledge transfer because more than 75% of the students finished a forward kinematics problem using a physical manipulator built with LEGO Mindstorms (TM). In addition, the observation analysis of the professor reveals that students reinforced their knowledge previously learned, and their problem-solving and critical thinking skills also improved. In this way, this study demonstrates that the proposed methodology not only helps the transfer of knowledge to the real-world context but also helps to develop student competencies. Future work is needed to replicate the findings in other robotics topics, such as the generation of trajectories, the analysis of the dynamics of manipulators, and the design of various controllers for the actuators of the robot.
机译：以前的研究表明，传统的教学方法如口语解释和PowerPoint演示文稿，可以在解决解决机器人的解决方案中使用计算机模拟来补充。尽管如此，这些以前的作品依赖于假设虚拟实验室中学到的知识转移到其等同的实际任务。这项工作的主要贡献是验证使用3D模型机器人计算机模拟的本科机器人学课程中学生所获得的知识可以应用于其现实世界的背景。用于运行计算机模拟的实验平台基于MATLAB（TM）软件的SIMSCAPE多体图书馆。结果表明，令人满意的知识转移，因为超过75％的学生使用用乐高思维（TM）建造的物理机械手完成了前向运动学问题。此外，教授的观察分析显示，学生以前学到了他们的知识，他们的解决问题和批判性思维技能也得到了改善。通过这种方式，本研究表明，所提出的方法不仅有助于对现实世界的背景转移，而且有助于开发学生的能力。需要将来的工作在其他机器人主题中复制调查结果，例如轨迹的产生，操纵器动态的分析以及机器人执行器的各种控制器的设计。

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