基于多自由度机械臂的乒乓球平衡控制算法研究  

Research on table tennis balance control algorithm based on multi-degree of freedom robot arm

作　　者：张邦森 王朝立[1] 王刚[1] 季云峰[1] ZHANG Bangsen;WANG Chaoli;WANG Gang;JI Yunfeng(Institute of Machine Intellgence,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机器智能研究院,上海200093

出　　处：《江苏理工学院学报》2024年第4期105-112,共8页Journal of Jiangsu University of Technology

基　　金：国家自然科学基金项目“具有位置约束的非完整多智能体系统的分布式一致性控制研究”(62003214)。

摘　　要：以板球系统模型为基础,提出了使用多自由度串联机械臂控制乒乓球平衡的方法。首先,从板球控制系统出发,分析这类平衡算法的优缺点;其次,对六自由度串联机械臂进行运动学分析;最后,通过Matlab软件和Webots软件对机械臂进行仿真试验,验证其准确性。仿真结果表明:在一般的应用场景下,使用多自由度串联机械臂控制乒乓球平衡的方法具有一定的通用性。Based on the model of Ball and Plate control system,a method of controlling table tennis balance by using multi-degree of freedom series robot arm is proposed.Firstly,the advantages and disadvantages of such balancing algorithms are analyzed from the model of Ball and Plate control system.Secondly,the kinematics of the six degrees of freedom tandem robotic arm is analyzed and verified on the experimental side.Lastly,simulation experiments of the robotic arm are carried out by Matlab software and Webots software to verify its accuracy.The simulation results show that the method of using multi-degree of freedom series manipulator to control table tennis balance has certain universality in general application scenarios.

关 键 词：六自由度机械臂 正逆运动学 轨迹规划 MATLAB仿真 Webots仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]