Research And Optimization Of 1V4 Chess Robot System

With the development of industrial robotics,people are also demanding more from them.Not only need to complete the simple tasks,but also need to improve the robot efficiency to adapt to the gradually complex industrial environment.At the same time,the application of industrial robot is becoming increasingly widespread,from the automotive industry to gradually expand to electronic and electrical,food processing,machinery manufacturing and other industries.The application of industrial robot to the field of popular science education is a new and unique attempt.The 1V4 chess robot system designed in this thesis not only has popularized the knowledge of science and technology,but also provide a new platform for research and development.Firstly,this thesis expounds the overall structure and workflow of the 1V4 chess robot system.In addition,the software and hardware structure and design method of the system are analyzed in detail.On the basis of the above analysis,studies the problem of system work efficiency.proposed from two aspects:optimization of robot trajectory planning algorithm and optimization design of chess liquidation algorithm to improve the working efficiency of the system.In the research of trajectory planning,firstly,this thesis introduces the basics theory of robot kinematics,the kinematic model and kinematic equation of MOTOMAN-HP6 robot are established by D-H method,and the robot inverse kinematics algorithm was studied,through robotics toolbox,robot modeling and inverse kinematics solution is proved by the simulation experiment on MATLAB platform.Secondly,this thesis analyzed the robot trajectory planning method in joint space and Cartesian space,especially focuses on the method that using B-spline curve to generate joint trajectory,then,the MATLAB programming algorithm is realized,and an example of B-spline trajectory planning is presented.On this basis,the thesis improves the Typical Particle Swarm Optimization,put forward a kind of the time-optimal B-spline trajectory planning algorithm based on based on the improved particle swarm optimization.Experimental results of MATLAB and Adams show that the proposed algorithm can improve the robot's working efficiency.In the research of Winding algorithm,firstly,the thesis make the chess game model of Chinese chess,Checkers,Gobang and Go chess,so that the system can reflect and tracking game state in real time.Then,based on the original winding algorithm,design and optimize the Winding algorithm of 4 types of game,and realized the algorithm in PC programming.Experimental results show that the optimized winding algorithm can effectively reduce the winding time,and then improve the working efficiency of the system.