With the continuous development of the world, robots are necessary for achieving high production rates and competitiveness. With an increasing robot demand, many universities offer robotics courses. These courses teach students the mathematical principles of robot‐related algorithms. However, it is difficult for students to apply pure mathematical algorithms in robotics to real robot development in a traditional classroom. This paper's motivation is to present a new robotics teaching method: Algorithm, Virtual experiment, Programming and Controller (AVPC), which shows students the steps of complete robot algorithm development, verification, and application process, taking the kinematics of an educational desktop 6‐DOF robotic arm as a typical teaching case. For the low‐cost educational desktop six‐axis robotic arm, an inverse kinematics algorithm is proposed. The inverse solution algorithm is realized in MATLAB, and then the dynamic model of the desktop robotic arm is established in Virtual Robot Experimentation Platform (V‐REP). The inverse kinematics algorithm in MATLAB is used to control the virtual robot arm movement in V‐REP to the specified position and orientation through the application programming interface (API) interface, thus verifying the correctness of the inverse kinematics algorithm. The inverse algorithm is implemented by using C language function in the microcontroller, and the running time of the algorithm is compared with that of the iterative solution method. In the present study, we investigated the students’ feelings and exam scores of using the new teaching method. The results show that the new teaching method has a significant impact on the improvement of students’ learning effect of robotics.

中文翻译：

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基于MATLAB和V-REP的机器人运动学理论与应用教学方法

随着世界的不断发展，机器人是实现高生产率和竞争力所必需的。随着机器人需求的增加，许多大学开设了机器人课程。这些课程教授学生机器人相关算法的数学原理。然而，学生很难将机器人学中的纯数学算法应用到传统课堂中的实际机器人开发中。本文的动机是提出一种新的机器人教学方法：算法、虚拟实验、编程和控制器（AVPC），向学生展示完整的机器人算法开发、验证和应用过程的步骤，以教育桌面的运动学6-自由度机械臂作为典型的教学案例。对于低成本教育桌面六轴机械臂，提出了一种逆运动学算法。在MATLAB中实现逆求解算法，然后在虚拟机器人实验平台（V-REP）中建立桌面机械臂的动力学模型。利用MATLAB中的逆运动学算法，通过应用程序编程接口（API）接口控制V-REP中虚拟机械臂运动到指定的位置和方向，从而验证逆运动学算法的正确性。逆算法在单片机中使用C语言函数实现，并与迭代求解法的算法运行时间进行比较。在本研究中，我们调查了学生使用新教学方法的感受和考试成绩。