篮球投篮机器人手臂运动轨迹优化方法研究  

Research on Optimization Method of Arm Motion Trajectory of Basketball Shooting Robot

作　　者：王第亮 许思毛[2] WANG Di-iang;XU Si-mao(Guilin Institute of Information Technology,Guangxi Guilin 541004,China;Guangxi Normal University,Guangxi Guilin 541004,China)

机构地区：[1]桂林信息科技学院,广西桂林541004 [2]广西师范大学,广西桂林541004

出　　处：《机械设计与制造》2024年第2期170-173,178,共5页Machinery Design & Manufacture

基　　金：2019年国家社科基金研究课题—成人慢性非特异性腰痛运动疗法的科学化及应用策略研究(19BTY124)。

摘　　要：篮球投篮机器人是对投篮动作进行规划和控制的机械装置,而手臂是机器人投篮过程中的关键部位。在投篮过程中,机器人手臂易发生非可抗振动,影响机器人投篮轨迹的参数起伏较大。提出了一种篮球投篮机器人手臂运动轨迹优化控制方法。该方法建立了篮球投篮机器人手臂的运动模型和反馈模型,获取投篮机器人在运动过程中的相关数据。以此为依据采用五次多项式插值方法,结合粒子群优化算法和迭代方法,优化控制篮球投篮机器人手臂运动轨迹。实验结果表明,所提方法能够有效优化控制机器人手臂运动轨迹,在运动过程中保持轨迹的角位移、角速度、角加速度和振动响应起伏稳定。The basketball shooting robot is a mechanical device that plans and controls the shooting action,and the arm is the key part of the robot shooting process.In the process of shooting,the robot arm is prone to vibration,which affects the shooting effect of the robot.Therefore,the research on the trajectory optimization method of basketball shooting robot arm is proposed.This method establishes the motion model and feedback model of the arm of the basketball shooting robot,and obtains the relevant data of the shooting robot in the movement process.Based on this,the trajectory of the robot arm is planned by using the quintic polynomial interpolation method.Particle swarm optimization(PSO)algorithm and iteration method are used to optimize the trajectory of the arm of the basketball shooting robot.The experimental results show that the proposed method can effectively optimize the trajectory of the robot arm,and keep the angular displacement,angular velocity,angular acceleration and vibration response of the trajectory stable during the movement process.

关 键 词：机器人手臂运动轨迹 线性控制方法 卡尔曼滤波 五次多项式 粒子群优化算法 优化控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]