平面式吉他演奏机器人扫弦动作零件移动轨迹控制研究  

Research on the moving track control of chord sweeping motion parts of planar guitar playing robot

作　　者：党焱[1] DANG Yan(Shaanxi Polytechnic Institute,Xianyang,Shaanxi 712000,China)

机构地区：[1]陕西工业职业技术学院,陕西咸阳712000

出　　处：《自动化与仪器仪表》2023年第9期251-254,共4页Automation & Instrumentation

基　　金：陕西工业职业技术学院校级2022年度人文社科类一般研究课题《构建新时代大学生公共礼仪课程的研究》(2022YKYB-069)。

摘　　要：演奏机器人在音乐领域有着重要地位,研究对吉他演奏机器人的扫弦、压弦机构进行优化设计,实现琴弦独立消音;为实现机器人演奏时扫弦、压弦等操作的协同控制,利用改进DFS算法进行零件路径搜索及规划。通过性能测试及实践应用,结果显示改进DFS规划路径偏差在±0.4 mm范围内;利用剪枝进行DFS改进的规划耗时最少,效率提高了33.3%。演奏机器人的弹奏效果表现较好,音符误差低于0.03%,可以将其应用于实际生活中,实现高质量弹奏表演。The playing robot plays an important role in the field of music,and studies the optimization design of the string sweeping and pressing mechanism of the guitar playing robot to realize the independent silencing of the strings;In order to realize the cooperative control of string sweeping,string pressing and other operations when the robot is playing,the improved DFS algorithm is used to search and plan the part path.Through performance test and practical application,the results show that the path deviation of improved DFS planning is within±0.4 mm;DFS improvement planning using pruning takes the least time and improves the efficiency by 33.3%.The performance of the playing robot is good,and the note error is less than 0.03%.It can be used in real life to achieve high-quality performance.

关 键 词：吉他演奏机器人 扫弦 零件移动 轨迹规划 机构优化 改进DFS 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]