Seven-Degree-of-Freedom Ping-Pong Robot Servo Control System Based On PC

The development of robots change with each passing day, the technology of robots progress are never seen before too, especially the entertainment robots emerge in endlessly nowadays, and the ping-pong robot is a special kind of entertainment robots. Ping-pong robots have arrived at mature stage in foreign countries in the world, although there are some deficiencies and can be improved.As a kingdom of ping-pong match, we can beat all opponents in the world, but we just as a baby who came to this world few minutes ago in the field of ping pong robot. We should devote our great efforts to bear and foster this baby.The thesis proceeds from an overview of the status at present and the probable orientation in future of ping-pang robot at home or in foreign countries, then presents a mechanism system of a seven-degree-of-freedom ping-pong robot. Choose from degree-of-freedom to the drive motors of each joint, and to select PCI card and so on. Utilize the mechanism system to kinetics modeling for the seven-degree-of-freedom manipulator.In the next place, design the control system based on kinetics modeling. From controlling servo motors to controlling micro-servo motors, from control the position to the pose of ping-pong robot, then analyze ball's flying track which hit by racket.At the mention of software design of control system, this system is a real time system. Ping-pong robot needs absolutely precise timers whose error should be near one millisecond, and adopt a counter which build in the Pentium chip. Present the conclusion, problems and the orientation in the last chapter.The ping-pong robot can play ping-pong with human being is the objective of the thesis.