足球机器人挑球机构优化设计  

Chip kick mechanics design of soccer robot

作　　者：陈沈融[1] 李莉敏[1] 朱红萍[1] 阮和根[1] 黄林林[1] 

机构地区：[1]上海大学机电工程及自动化学院,上海200072

出　　处：《计算机辅助工程》2009年第2期77-80,共4页Computer Aided Engineering

基　　金：上海市重点学科建设项目(Y0102)

摘　　要：为优化足球机器人挑球机构的关键参数,根据所建的机构数学模型,在Matlab中采用SUMT惩罚函数法,通过构造增广目标函数,把约束最优化问题转换为一系列无约束极小化问题,获得原约束问题的最优解,对模型进行优化.软件仿真与实物实验表明,将该结果应用到足球机器人设计中,使机器人挑球性能大大提高,验证模型的正确性,并为足球机器人在挑球过程中球与带球机构碰撞问题提供参考性解决方案.To optimize the key parameters about the chip kick mechanics of soccer robot, the mathematical model of the mechanics is set up, and the SUMT is used in Matlab. The model is optimized by constructing the expanded object function which changes unconstrained minimization problem to choose the optimal the constrained optimization problem to the parameters. The software simulation and physical experiments show that the chip kick performance of the robot is greatly improved while the results are applied into the robot＇ s design. It validates the model＇ s correctness and provides a reference solution to the collision problems between the ball and the dribble mechanics.

关 键 词：ROBOCUP 足球机器人 挑球机构 MATLAB 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]