乒乓球发球机器人俯仰横摆机构驱动转矩控制  

Drive Torque Control of the Pitch and Yaw Mechanism of a Table Tennis Serving Robot

作　　者：康凯[1] KANG Kai(North China University of Water Resources and Electric Power,He’nan Zhengzhou 450000,China)

机构地区：[1]华北水利水电大学,河南郑州450000

出　　处：《机械设计与制造》2025年第2期343-347,共5页Machinery Design & Manufacture

基　　金：河南省教育科学规划一般课题—“双一流”建设背景下行业特色型高校就业增质路径研究(2022YB0101)。

摘　　要：为了提高乒乓球发球机器人在运行过程中的稳定性差,对乒乓球发球机器人俯仰横摆机构驱动转矩控制。通过计算乒乓球发球机器人的驱动功率,构建用户驱动和自主驱动映射函数,根据机器人当前状态和用户的期望指令,进行合理的角速度控制,以实现平稳的横摆运动。在此基础上,将角速度控制过程中产生的转矩控制误差拟作输入值,通过数字增量型PID控制策略建立驱动转矩控制函数,使用神经网络完成机器人俯仰横摆轨迹跟踪估计,考虑机器人底部滑轮的滑移率,采用模型预测控制算法求解转矩控制目标函数,输出最优转矩控制分配结果。实验结果证明,所提方法驱动转矩控制精度高,且滑轮附着利用率均高于0.6,可以有效增强乒乓球发球机器人运行效率与稳定性。In order to improve the poor stability of the table tennis serving robot during operation,the pitch and yaw mechanism of the table tennis serving robot is driven by torque control.By calculating the driving power of the table tennis serving robot,con⁃structing a mapping function for user driven and autonomous driving,and based on the current state of the robot and the user’s expected instructions,reasonable angular velocity control is carried out to achieve smooth lateral motion.On this basis,the torque control error generated during the angular velocity control process is simulated as an input value,and a driving torque con⁃trol function is established through a digital incremental PID control strategy.A neural network is used to track and estimate the pitch and yaw trajectory of the robot.Considering the slip rate of the bottom pulley of the robot,a model predictive control algo⁃rithm is used to solve the torque control objective function and output the optimal torque control allocation result.The experimental results show that the proposed method has high precision in driving torque control,and the utilization rate of pulley attachment is all above 0.6,which can effectively enhance the operational efficiency and stability of the table tennis serving robot.

关 键 词：发球机器人 俯仰横摆机构 驱动转矩 动力学分析 神经网络 

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]