Development of a Teaching Methodology of Complex Electromechatronic and Robotic Systems

摘要

The paper describes a process of developing a driving simulator based on KUKA KR600 robot for educational purpose. The main idea is to introduce students to multiple topics - electromechatronics, robotics, inverse kinematics, motion cueing, washout filters. It is cross-disciplinary project. First, students generate car acceleration using Unity game engine's built-in physics. Then they design motion cueing algorithm in Matlab Simulink and transform the accelerations into robot motions. As a result, students check robot motion cues in virtual environment using MOBILE software. Last step is to test generated motions on a real robot manipulator.