动力参数下乒乓发球机器人振动控制研究  

Research on Vibration Control of Ping-Pong Serving Robot Under Dynamic Parameters

作　　者：张帆 周伟 ZHANG Fan;ZHOU Wei(Department of Physical Education,China University of Petroleum,Shandong Qingdao 266580,China)

机构地区：[1]中国石油大学(华东)体育教学部,山东青岛266580

出　　处：《机械设计与制造》2023年第1期282-286,共5页Machinery Design & Manufacture

基　　金：山东省社会科学规划研究项目—面向健康需求下的山东省体医融合产业发展研究(21DTYJ05)。

摘　　要：目前乒乓发球机器人在发球过程中存在振动现象,采用传统方法控制振动的效果不佳,因此,提出基于动力学分析的乒乓发球机器人振动控制。通过对发球机器人动臂的动力学分析,结合Lagrange方程,构建动力学模型,从动力学的角度分析机器人产生振动的原因,分析得到乒乓发球机器人主动臂与从动臂的动力参数角加速度、角速度和角度之间存在的关系公式,以动力学模型的分析结果为基础,构建振动控制系统的状态空间,引入控制向量,结合Riccati矩阵,降低干扰,得到最优解,进而构建最优控制器,实现乒乓发球机器人的振动控制。实验结果表明,这里方法在6s内将振动位移降到最低,振动位移基本为0m,随着时间的增加,振动幅度仍然在降低,与传统方法相比,后者的振动幅度仍然较大,同时分析对比了关节角控制结果和电压控制,均得出这里设计的系统性能更加优越,控制效果更佳。At present,ping-pong ball robot has vibration phenomenon in the process of serving,and the effect of controlling vibration by traditional method is not good. Therefore,the vibration control of ping-pong ball robot based on dynamic analysis is proposed. Through the dynamics analysis of the launcher arm,Combined with Lagrange equation,construct dynamic model,the analysis table tennis serve robot arm actively and follower angular acceleration and angular velocity and Angle relation formula between,on the basis of the analysis results of dynamic model,build the vibration control system of the state space,introduction of vector control,Combined with Riccati matrix,interference is reduced,the optimal solution is obtained,and then the most optimal controller is constructed to realize the vibration control of ping-pong ball robot. Experimental results show that the method in the 6s to reduce vibration displacement to +/-0.02m,with the increase of time,the vibration amplitude with lower,compared with the traditional method,this method at the time of 6s basic vibration displacement is zero,the traditional method of amplitude still larger,at the same time analyzed the joint Angle control results and voltage control,are concluded in this paper,the design of the system performance is more superior,Better control.

关 键 词：乒乓发球机器人 动力学分析 角加速度 角速度 振动控制 最优控制器 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]