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Research Of Seven Degree Freedom Manipulator Motion Control System For Table Tannis

Posted on:2021-05-15Degree:MasterType:Thesis
Country:ChinaCandidate:G P ZengFull Text:PDF
GTID:2428330623979011Subject:Control Engineering
Abstract/Summary:PDF Full Text Request
With the development of robotics and artificial intelligence technology,research on robots of sports has begun to appear in many colleges and laboratories.The use of robots in table tennis sports and competition has great application prospects in China.In addition,the table tennis robot involves machine vision,deep learning and robot control technology.The built platform can carry out comprehensive research on these three technologies,then use the platform to display the results of the technology synthesis.This thesis takes the seven-degree-of-freedom manipulator as the research object,focusing on the motion control system of the manipulator.This thesis analyzes the kinematics of the manipulator with seven joints.Firstly,it introduces the parameters and D-H matrix of the manipulator.According to the D-H parameters,the kinematics and inverse kinematics of the manipulator are solved,then planned the trajectory of the robotic arm.The algorithm principle of trajectory planning is to use an improved cubic B-spline curve for fitting.Using this method to can ensure that the manipulator will not vibrate during the movement process,and the manipulator can also ass all control points.After determining the trajectory of the robotic arm,it is necessary to limit the movement time of the robotic arm in the joint space to ensure that the robotic arm can move to the position of the ball within a prescribed time.This thesis uses the optimization method of genetic algorithm,and the joint speed and acceleration parameters are encoded as individual genes.Through generations of inheritance and survival of the fittest,the movement time of the robot arm is minimized,thereby ensuring the success of the robot arm hitting.After planning the motion control part,the process of hitting the ball does not end.Since the purpose of the robot to play table tennis is to achieve good results,the robot not only needs to receive the ball,but also needs to hit the table tennis ball back to the predetermined position.The robot's batting strategy needs to be researched and analyzed.First,the trajectory of the table tennisball is used as the input of the decision algorithm,and the parameters of the ball are used as the output,and the final ball return result is evaluated by the ball return evaluation function.If the parameters of the ball can make the return of the robot arm fall in the vicinity of the designated position,it is a successful shot.Through training by the sample data we finally obtain the algorithm of the shot decision,which improves the success rate of batting.Finally,the system is implemented and is tested on a real robot system.
Keywords/Search Tags:Table Tennis Robot, Trajectory Planning, B-spline Curve, Batting Decision
PDF Full Text Request
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