一种半虚拟化机械臂教学系统的设计

Design of Semi-Virtual Manipulator Based on ROS

摘要: 虚拟仿真教学系统在原理讲解及验证性实验方面具有较大优势，但也存在一些真实状态无法模拟、学生缺乏真实锻炼等缺点。为此，本文提出将实验关注部分真实化、外围辅助设备虚拟化的半虚拟化设计思路，设计了一种半虚拟化机械臂教学系统，用于计算机类专业嵌入式系统课程的教学。本设计基于ROS，采用GAZEBO作为仿真软件，设计了运行于PC机的虚拟仿真场景、虚拟接口卡，与真实的嵌入式系统开发装置共同构成一个复杂的半虚拟化实训场景，让学生在真实的开发装置上获取开发经验，利用虚拟的仿真场景验证所设计的软件功能。该方式兼具全虚拟化及真实设备两个方面的优点，对学生能力培养具有较大优势。

Abstract: Virtual simulation teaching system has great advantages in principle explanation and confirmatory experiment, but it also has some disadvantages, for example, real state cannot be simulated, students lack real exercise, and so on. For this reason, this paper proposes a semi-virtual design idea, which focuses on part of the experiment and peripheral auxiliary equipment, and designs a semi-virtual mechanical arm teaching system, which is used in the teaching of embedded system courses of computer specialty. Based on ROS and using gazebo as simulation software, the virtual simulation scene and virtual interface card running on PC are designed in this design. Together with the real embedded system development device, it forms a complex semi-virtual training scene, which enables students to gain development experience on the real development device, and verify the software function by using the virtual simulation scene. This method has both the advantages of full virtualization and real equipment, and has a greater advantage in the cultivation of students' ability.