基于回摆模式的机器鱼顶球策略  

Based on the back swing mode robotic fish ball strategy

作　　者：吕向阳[1] 马杨超[1] 

机构地区：[1]陆军航空兵学院机械工程系,北京101123

出　　处：《机器人技术与应用》2012年第5期31-34,共4页Robot Technique and Application

摘　　要：为了提高机器鱼顶球的准确性和稳定性,从而加速将球顶向对方球门,提出了基于回摆模式的机器鱼顶球策略。在分析三种传统顶球方式的基础上,对头部顶球方式进行了改进,提高其稳定性。在此基础上融合其他顶球方式,充分综合其优势,克服各自的缺点,并结合齿轮法进行位姿调整,形成一个完整策略。经过实验验证,该策略大大提高了头部顶球的稳定性,顶球效率较高。In order to improve the accuracy and stability of the movement of the hall when the machine fish push it, and then accelerate pushing the ball to the opponent＇ s goal, a robotic fish push ball strategy. based on the back swing mode is proposed. Based on the analysis of three traditional push-ball mode, the push bali mode with head is improved to enhance its stability. On the basis of this fusion other arcade mode, make full use of its advantages, combined with the gear method of posture adjustment, thereby forming a whole strategic cycle. Through experimental verification, this strategy can greatly hnprove the stability and keep high efficiency.

关 键 词：机器鱼 顶球策略 齿轮法位姿调整 回摆顶球模式 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]