排球拦网机器人扣球运动轨迹实时跟踪研究  

Research on Real-Time Tracking of Spiking Trajectory of Volleyball Blocking Robot

作　　者：韩盼星 莫双瑗[2] HAN Pan-xing;MO Shuang-yuan(College of Physical Education,Zhengzhou Institute of Industrial Application Technology,He’nan Xinzheng 451550,China;School of Physical Education,Guangxi University of Science and Technology,Guangxi Liuzhou 545006,China)

机构地区：[1]郑州工业应用技术学院体育学院,河南新郑451150 [2]广西科技大学体育学院,广西柳州545006

出　　处：《机械设计与制造》2023年第11期210-213,219,共5页Machinery Design & Manufacture

基　　金：湖北省休闲体育发展研究中心2020年度开放基金课题—河南省农村休闲体育场地配置供需均衡研究(2020Y024)。

摘　　要：为解决拦网机器人在不同速度运动下出现距离偏差大和角度偏差等问题,提出排球拦网机器人避障及运动轨迹实时跟踪方法研究,对拦网机器人的运动轨迹进行实时跟踪。首先对拦网机器人的机械结构进行分析,根据其运动特点进行拦网机器人运行学分析;在拦网机器人上加装声呐传感器,对球体进行检测,根据其检测结果完成排球拦网机器人的运动规划;在此基础上,构建拦网机器人运动轨迹跟踪模型,利用该模型对拦网机器人的运动轨迹实时跟踪。实验结果表明:采用所提方法可提升运行轨迹跟踪精度,且不同速度运动状态下的距离偏差和角度偏差均较小,证明了所提方法的有效性。In order to solve the problems of large distance deviation and angle deviation of the blocking robot at different speeds,a method of obstacle avoidance and real-time tracking of the motion trajectory of the volleyball blocking robot is proposed to track the motion trajectory of the blocking robot in real time.Firstly,the mechanical structure of the blocking robot is analyzed,and the operation of the blocking robot is analyzed according to its motion characteristics;the sonar sensor is installed on the blocking robot to detect the sphere,and the motion planning of the volleyball blocking robot is completed according to the detection results;on this basis,the trajectory tracking model of the blocking robot is constructed,and the model is used to track the trajectory of the blocking robot in real time.The experimental results show that the proposed method can improve the tracking accuracy of the running trajectory,and the distance deviation and angle deviation under different speed motion states are small,which proves the effectiveness of the proposed method.

关 键 词：拦网机器人 运动路径 实时跟踪 拦网机械臂 障碍物预测 

分 类 号：TH16[机械工程—机械制造及自动化] TP391.9[自动化与计算机技术—计算机应用技术]