多项式插值改进的乒乓球拾球机械臂运动控制  

Polynomial Interpolation Improved Motion Control of Table Tennis Ball Pickup Manipulator

作　　者：王柯 文彩凤 WANG Ke;WEN Cai-feng(College of Physical Education,Baise University,Guangxi Baise 533000,China;College of Physical Education,Guangxi University of Science and Technology,Guangxi Liuzhou 545006,China)

机构地区：[1]百色学院体育学院,广西百色533000 [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》2024年第6期348-351,356,共5页Machinery Design & Manufacture

基　　金：2022年度广西高等教育本科教学改革工程项目——师范专业认证背景下高校体育教育专业术科教学改革研究与实践(2022JGA331)。

摘　　要：乒乓球拾球机器人在工作过程中易受到场地、机械结构等因素的制约,不能精准拾取乒乓球。为此,提出多项式插值改进的乒乓球拾球机械臂运动控制。通过乒乓球捡拾机器人工作示意图及机械臂优化原理,优化设计拾球机械臂的结构,利用3-5-3多项插值法构建拾球机械臂轨迹的轨迹函数,并在此基础上利用混沌粒子群算法实现拾球机械臂的轨迹规划。实验结果表明,所提方法能够精确地对拾球机械臂的轨迹实施规划,并且其受随机扰动的影响较小,控制误差平均值为0.01,具有良好的控制效果。The ping pong ball picking robot is easily constrained by factors such as the field and mechanical structure during the working process,and cannot accurately pick up the ping pong ball.To this end,a polynomial interpolation improved motion con-trol for the table tennis ball picking robot arm is proposed.By using the schematic diagram of the table tennis picking robot and the optimization principle of the robotic arm,the structure of the picking robotic arm is optimized and designed.The trajectory function of the picking robotic arm is constructed using the 3-5-3 polynomial interpolation method,and based on this,the trajec-tory planning of the picking robotic arm is achieved using chaotic particle swarm optimization algorithm.The experimental results show that the proposed method can accurately plan the trajectory of the ball picking robotic arm,and it is less affected by random disturbances.The average control error is 0.01,and it has good control effect.

关 键 词：多项式插值 拾球机械臂 运动控制 轨迹函数 轨迹规划 混沌粒子群算法 

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