CN109807888A - A kind of class ice hockey confrontation method based on parallel mechanical arm - Google Patents
A kind of class ice hockey confrontation method based on parallel mechanical arm Download PDFInfo
- Publication number
- CN109807888A CN109807888A CN201910070294.8A CN201910070294A CN109807888A CN 109807888 A CN109807888 A CN 109807888A CN 201910070294 A CN201910070294 A CN 201910070294A CN 109807888 A CN109807888 A CN 109807888A
- Authority
- CN
- China
- Prior art keywords
- ice hockey
- mechanical arm
- method based
- parallel mechanical
- confrontation method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The class ice hockey confrontation method based on parallel mechanical arm that the invention discloses a kind of comprising the steps of: A, according to the initial velocity of target, acceleration and currently plan hand position impact path, calculate impact position and time；B, with inverse kinematic algorithm, servo motor rotational angle is found out according to known arm end coordinate position；C, fuzzy control rule is designed, it realizes to the bead from different paths and correct impact is made to hand position, the present invention is using the parallel manipulator arm in laboratory as research object, it has analyzed and researched the motion control feature of NJ controller, the problems such as path planning of mechanical arm and control, founding mathematical models and algorithm for design are fought to the finish training to realize the ice hockey of manipulator and people, and sportsman is helped to practice ice hockey technology.
Description
Technical field
The present invention relates to sports field, specifically a kind of class ice hockey confrontation method based on parallel mechanical arm.
Background technique
With the continuous development of science and technology with progress, robot research is in the ascendant, and robot is gradually gone to from science fiction movies
True human lives.Industrial machinery arm also all has the various aspects of social production as a part of robot important
Meaning, such as auto manufacturing, electric apparatus manufacture, Plastics Processing Industry, machine-building, mining, metallurgy, petrochemical industry field；
This project combines using mechanical arm as training mate person with sports, and sportsman is helped to be trained.
Although current robotic arm can complete some specific highly difficult tasks.But dynamic, complex environment are faced, this
A little robotic arms will catch the flap when seeing, it is difficult to complete task.This just needs robotic arm to have more intelligent control algolithm, can be continuous
Adjustable strategies are adapted in the environment of variation.To complete this target, robot system is required to independently establish oneself
System is characterized to the external knowledge of external event.Bion with cognitive ability is the learning process by cognitive ability
To establish this external knowledge characterization system.Our research interest concentrates on the generation of robot sense sports coordination ability
And development, as being recommended in text: sensorimotor coordination is one of the important foundation of cognitive ability.
The mankind can carry out ice hockey, be the advanced performance of its sensorimotor coordination.In ice hockey, standard ice hockey
Diameter only has 70 millimeters, and movement velocity is fast, the scooter 40m/s of ice hockey when people normally plays ball.Therefore, it is beaten using robotic arm
When ice hockey, the characteristics of needs for ice hockey, the quickly reliable tracking of movement ice hockey, trajectory predictions and control machine are solved
Device arm at a suitable time, position, posture and speed the problems such as being batted.Ice hockey process is beaten simultaneously, is related to visual perception
With the great number of issues of intelligent control, by playing robotic arm the research of ice hockey, can to it is a series of perception and control problem into
Row further investigation.
This paper purpose is to carry out the class ice hockey based on parallel mechanical arm to fight to the finish the research and design of control strategy.It relies on
The new product NJ controller of OMRON company, using the parallel manipulator arm in laboratory as research object, NJ control of having analyzed and researched
The problems such as motion control feature of device, the path planning of mechanical arm and control, founding mathematical models and algorithm for design is write
Program is fought to the finish training to realize the ice hockey of manipulator and people.By to based on parallel mechanical arm ice hockey fight to the finish strategy research set
Meter, it is desirable to sportsman's limit for souning out the mankind in the training process again and again can be helped in future and realize self
It breaks through.
Summary of the invention
The class ice hockey confrontation method based on parallel mechanical arm that the purpose of the present invention is to provide a kind of, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme:
A kind of class ice hockey confrontation method based on parallel mechanical arm comprising the steps of:
A, hand position is planned according to the initial velocity of target, acceleration and currently impact path, calculate impact position and
Time；
B, with inverse kinematic algorithm, servo motor angle of rotation is found out according to known arm end coordinate position
Degree；
C, fuzzy control rule is designed, realize to the bead from different paths and correct impact is made to hand position.
As further technical solution of the present invention: the step B is specifically: according to the mathematical model figure of anti-resolving Algorithm,
The known long L of main armt, from brachium Lb, distance between axles Rt, translational disk length Rb, the ending coordinates position G (X, Y) of manipulator, with a left side
Motor angle θ1For, A point coordinate isSince mechanical hand end translational disk keeps horizontal, E point coordinate is represented byTherefore, vectorIf unit vectorDirection is negative for X-axis
Direction can be obtained with vector angle formula:Due to | AC |=Lt, | CE |=Lb,
According to the cosine law, the cosine value for acquiring angle α is,It can thus be concluded that θ1=∠ EAH- α.
As further technical solution of the present invention: right motor angle θ2Calculation and left motor angle θ1It is identical.
As further technical solution of the present invention: the step A acquires the route of bead by TH vision controller.
As further technical solution of the present invention: the step A is timely by NJ controller calculating calculating impact position
Between.
As further technical solution of the present invention: further include step D: it is next that manipulator returns to initial ready position waiting
Bout.
Compared with prior art, the beneficial effects of the present invention are: the present invention with the parallel manipulator arm in laboratory be research
The problems such as object, the motion control feature for NJ controller of having analyzed and researched, the path planning of mechanical arm and control, establish mathematics
Model and algorithm for design are fought to the finish training to realize the ice hockey of manipulator and people, and sportsman is helped to practice ice hockey technology.
Detailed description of the invention
Fig. 1 is circuit diagram of the invention.
Fig. 2 is work flow diagram of the invention.
In figure: 1- equipment lathe bed, 2- inert gas seal cabin, 3- magnechuck, 4- inert gas seal cabin intake valve, 5-
Quartz glass, 6- computer screen, 7- inert gas gas cylinder, 8- inert gas seal cabin air inlet pipe, 9- laser and Galvanometer Q-Switch box,
The straight device of QBH built in 10- galvanometer shifting axle and bracket, 11- and beam expanding lens, 12- three-dimensional galvanometer, 13- detection tracheae, 14- oxygen are dense
Degree tester, 15- pressure reducing valve, 16- oxygen concentration tester intake valve, 17- inert gas seal cabin exhaust valve, 18- are polished
Flat-top continuous wave laser built in workpiece, 19-.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1: a kind of class ice hockey confrontation method based on parallel mechanical arm referring to FIG. 1-2, concrete methods of realizing
As shown in Figure 1,
Firstly, according to the initial velocity of target, acceleration and impact path is currently planned hand position, calculate impact position
And the time；
Secondly: using inverse kinematic algorithm, servo motor rotation is found out according to known arm end coordinate position
Angle, according to the mathematical model figure of anti-resolving Algorithm, it is known that the main long L of armt, from brachium Lb, distance between axles Rt, translational disk length Rb, machine
The ending coordinates position G (X, Y) of tool hand, with left motor angle θ1For, A point coordinate isSince mechanical hand end is flat
Moving plate keeps horizontal, and E point coordinate is represented byTherefore, vectorIf unit
VectorDirection is X-axis negative direction, can be obtained with vector angle formula:Due to | AC |=Lt, | CE |=Lb, according to the cosine law, acquire the cosine of angle α
Value is,It can thus be concluded that θ1=∠ EAH- α；
Last: design fuzzy control rule is realized to the bead from different paths and makes correct impact to hand position.
The traditional flogic system of fuzzy control ratio closer to the mankind thinking and language expression way, for inaccurate existing for this system
And the case where uncertain information, the effect of fuzzy control are better than conventional control.
Embodiment 2, on the basis of embodiment 1, the mathematical model that the design uses is, it is known that the rotation angle of every axis
Extrapolate the coordinate position of mechanical arm tail end (translational disk central point).Anti- resolving Algorithm is exactly known machine arm ending coordinates position,
Calculate that the rotation angle of every axis, the design mainly use inverse kinematic algorithm, the anti-resolving Algorithm of required calculating in turn
Mathematical model figure such as Fig. 2.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of class ice hockey confrontation method based on parallel mechanical arm, which is characterized in that comprise the steps of:
A, impact path is planned hand position according to the initial velocity of target, acceleration and currently, calculates impact position and time；
B, with inverse kinematic algorithm, servo motor rotational angle is found out according to known arm end coordinate position；
C, fuzzy control rule is designed, realize to the bead from different paths and correct impact is made to hand position.
2. a kind of class ice hockey confrontation method based on parallel mechanical arm according to claim 1, which is characterized in that the machine
Tool hand is driven by left motor and right motor.
3. a kind of class ice hockey confrontation method based on parallel mechanical arm according to claim 2, which is characterized in that the step
B is specifically: according to the mathematical model figure of inverse kinematic algorithm, it is known that the main long L of armt, from brachium Lb, distance between axles Rt, translational disk is long
Spend Rb, the ending coordinates position G (X, Y) of manipulator, with left motor angle θ1For, A point coordinate isDue to mechanical hand end
It is horizontal to hold Moving plate holding level with both hands, E point coordinate representation isTherefore, vectorIf unit
VectorDirection is X-axis negative direction, is obtained with vector angle formula:
Due to | AC |=Lt, | CE |=Lb, according to the cosine law, the cosine value for acquiring angle α is,Thus
Obtain θ1=∠ EAH- α.
4. a kind of class ice hockey confrontation method based on parallel mechanical arm according to claim 3, which is characterized in that right motor
Angle, θ2Calculation and left motor angle θ1It is identical.
5. a kind of class ice hockey confrontation method based on parallel mechanical arm according to claim 1, which is characterized in that the step
Rapid A acquires the route of bead by TH vision controller.
6. a kind of class ice hockey confrontation method based on parallel mechanical arm according to claim 1, which is characterized in that the step
Rapid A calculates impact position and time by NJ controller.
7. -6 any a kind of class ice hockey confrontation method based on parallel mechanical arm according to claim 1, which is characterized in that
Further include step D: manipulator returns to initial ready position and waits second leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910070294.8A CN109807888A (en) | 2019-01-24 | 2019-01-24 | A kind of class ice hockey confrontation method based on parallel mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910070294.8A CN109807888A (en) | 2019-01-24 | 2019-01-24 | A kind of class ice hockey confrontation method based on parallel mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109807888A true CN109807888A (en) | 2019-05-28 |
Family
ID=66604952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910070294.8A Pending CN109807888A (en) | 2019-01-24 | 2019-01-24 | A kind of class ice hockey confrontation method based on parallel mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109807888A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111968465A (en) * | 2020-09-15 | 2020-11-20 | 许昌学院 | Probability demonstration device for computational mathematics |
| CN112192565A (en) * | 2020-09-16 | 2021-01-08 | 哈尔滨理工大学 | Billiards hitting device with manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103364579A (en) * | 2013-07-02 | 2013-10-23 | 北京理工大学 | Method for predicting ping-pong spin angle velocity of ping-pong robot |
| US20150306455A1 (en) * | 2014-04-25 | 2015-10-29 | DeCarlo Enterprises, Inc. | Athletic training system, method and computer program product |
| CN105729478A (en) * | 2016-04-22 | 2016-07-06 | 扬州大学 | Forward and inverse kinematics solution algorithm for parallel manipulator control system with two degrees of freedom |
| CN106426200A (en) * | 2016-10-14 | 2017-02-22 | 深圳四博智联科技有限公司 | Table tennis robot and control method thereof |
| CN107498556A (en) * | 2017-08-15 | 2017-12-22 | 中科新松有限公司 | A kind of ping-pong robot bus control system and control method |
| CN108858247A (en) * | 2018-08-23 | 2018-11-23 | 中科新松有限公司 | Mechanical arm and ping-pong robot with it |
-
2019
- 2019-01-24 CN CN201910070294.8A patent/CN109807888A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103364579A (en) * | 2013-07-02 | 2013-10-23 | 北京理工大学 | Method for predicting ping-pong spin angle velocity of ping-pong robot |
| US20150306455A1 (en) * | 2014-04-25 | 2015-10-29 | DeCarlo Enterprises, Inc. | Athletic training system, method and computer program product |
| CN105729478A (en) * | 2016-04-22 | 2016-07-06 | 扬州大学 | Forward and inverse kinematics solution algorithm for parallel manipulator control system with two degrees of freedom |
| CN106426200A (en) * | 2016-10-14 | 2017-02-22 | 深圳四博智联科技有限公司 | Table tennis robot and control method thereof |
| CN107498556A (en) * | 2017-08-15 | 2017-12-22 | 中科新松有限公司 | A kind of ping-pong robot bus control system and control method |
| CN108858247A (en) * | 2018-08-23 | 2018-11-23 | 中科新松有限公司 | Mechanical arm and ping-pong robot with it |
Non-Patent Citations (1)
| Title |
|---|
| 李卫国等: "《工业机器人基础》", 31 December 2018, 北京理工大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111968465A (en) * | 2020-09-15 | 2020-11-20 | 许昌学院 | Probability demonstration device for computational mathematics |
| CN111968465B (en) * | 2020-09-15 | 2022-02-25 | 许昌学院 | Probability demonstration device for computational mathematics |
| CN112192565A (en) * | 2020-09-16 | 2021-01-08 | 哈尔滨理工大学 | Billiards hitting device with manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108241339B (en) | Motion solving and configuration control method of humanoid mechanical arm | |
| Kim et al. | Catching objects in flight | |
| Morales et al. | Integrated grasp planning and visual object localization for a humanoid robot with five-fingered hands | |
| Zacharias et al. | Making planned paths look more human-like in humanoid robot manipulation planning | |
| JPWO2018143003A1 (en) | Robot path generating device and robot system | |
| US11654564B2 (en) | Efficient data generation for grasp learning with general grippers | |
| CN104057290A (en) | Method and system for assembling robot based on visual sense and force feedback control | |
| Saut et al. | Efficient models for grasp planning with a multi-fingered hand | |
| CN110815190B (en) | Industrial robot dragging demonstration method and system | |
| Kaldestad et al. | Collision avoidance with potential fields based on parallel processing of 3D-point cloud data on the GPU | |
| CN104298244B (en) | A kind of localization method of industrial robot three-dimensional real-time high-precision positioner | |
| CN104236456B (en) | A kind of Robotic Hand-Eye Calibration method based on two-freedom 3D vision sensor | |
| CN109807888A (en) | A kind of class ice hockey confrontation method based on parallel mechanical arm | |
| CN112365580B (en) | Virtual operation demonstration system for human-computer skill teaching | |
| CN106371442B (en) | A kind of mobile robot control method based on the transformation of tensor product model | |
| CN103878770A (en) | Space robot visual delay error compensation method based on speed estimation | |
| CN113084821A (en) | Spraying robot time optimal trajectory planning method based on dynamics | |
| Asiri et al. | The design and development of a dynamic model of a low-power consumption, two-pendulum spherical robot | |
| JP2015058492A (en) | Control device, robot system, robot, robot operation information generation method, and program | |
| Jindai et al. | Development of a handshake request motion model based on analysis of handshake motion between humans | |
| CN102699817A (en) | Polishing precessional motion control method for large-aperture aspherical air bag | |
| Lim et al. | Online telemanipulation framework on humanoid for both manipulation and imitation | |
| Radmehr et al. | Experimental Study on the Imitation of the Human Head-and-Eye Pose Using the 3-DOF Agile Eye Parallel Robot with ROS and Mediapipe Framework | |
| Kawamura et al. | Robust visual servoing for object manipulation with large time-delays of visual information | |
| Ylikorpi et al. | Unified representation of decoupled dynamic models for pendulum-driven ball-shaped robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190528 |