Trajectory Planning And Motion Simulation Of Badminton Robot Based On ROS

With the continuous development of science and technology,i ntelligent robots are gradually infiltrating into every area of society,and they have frequently entered the general public's field of vision.With the development of the national fitness program,badminton,as a mainstream sport in China,In order to ease the restrictions on the number of people and the level of playing,More and more Scholars want to design a robot that can play badminton with people at home and abroad.At present,mainstream products on the market are badminton serve machines that need to load large amounts of badminton at one time.The robot needs to be fixed on the ground and manually control the shuttlecock that launches in different directions and strengths.The badminton serve machines can not play against people,and it needs periodic loading of new balls.It also needs to manually adjust the type of serve and cannot complete the whole exercise process with people.The serving machine can only be used in the training of professional athletes,and it can not meet the needs of amateur sports enthusiasts.In this paper,a robot simulation model designed to complete the task of playing badminton with people was designed.This robot model can theoretically hit balls with different types of flight,including high-altitude ball,flat ball,and net hanging ball.At the same time,the article explores the possibility of this badminton robot from a theoretical perspective.In this paper,the kinematics modeling of the chassis mobile platform and the upper body swing system is performed.Because of the complexity of the motion planning of redundant manipulators in the upper body swing system,a large number of chapters have been used to perform inverse kinematics,two-point smooth interpolation,motion planning,collision detection,and other theoretical knowledge on the unique configuration of the upper body system.According to the actual situation,a relatively good algorithm was selected and applied to the system.This article finally completed the construction of the badminton robot simulation system,and ver ified the feasibility and reliability of the robot's hitting motion using the 3D simulation environment,which established the theoretical basis for the future physical prototype construction.