摘要
解决了排球机器人击球点、击球姿态及击球速度的确定问题。在考虑系统延时基础上 ,通过引入机器人动作时间函数和目标到达时间函数 ,提出了一种解决机器人击球、拦截和抓取运动目标等任务的通用的目标拦截点确定方法。将该方法应用于确定排球机器人击球点 ,实现了在排球机器人工作空间内的球运动路径上任意位置回球。同时 ,通过建立机器人手部与球的碰撞模型 ,确定了机器人的击球姿态及击球速度。
The problem was analyzed for the rendezvous po in t, hitting pose and hitting velocity of the volleyball robot. On the basis of de lay time of the system,the robot travel-time function and the target arrival-t ime function were introduced and a common method was presented to select the ren dezvous point of such tasks as robot hitting, intercepting and catching.This met hod was applied to the volleyball robot, and it realized hitting action of the b all along its path anywhere within the robot workspace. Moreover, with the impac t model between robot and ball, the pose and the velocity of the robot to hit th e ball back were determined. A simulation of the Motoman SV3 manipulator demonst rates its feasibility.
出处
《机床与液压》
北大核心
2004年第6期94-96,共3页
Machine Tool & Hydraulics
关键词
排球机器人
击球点
碰撞模型
击球速度
Volleyball robot
Rendezvous point
Impact model
Hitting velocity
