RoboCup中型组足球机器人主动控球机构设计

作者：卢盛才，海丹，王祥科，孙方义，郑志强 日期：2009-12-30/span> 浏览：2965 查看PDF文档

RoboCup中型组足球机器人主动控球机构设计

卢盛才，海丹，王祥科，孙方义，郑志强
（国防科技大学 机电工程与自动化学院，湖南 长沙 410073）

摘要：针对RoboCup中型组足球机器人主动控球技术研究中缺乏原理分析的问题，分析了主动控球技术的原理，包括：主动控球机构的构型分析、机构控球过程的受力分析和运动学分析。设计了一套主动控球机构和相应的控制方法，并成功地应用于NuBot中型组足球机器人。分析结果表明：根据足球的期望运动对作用在足球上的转矩进行实时控制是机构成功控制足球运动的关键，同时机构主动轮和足球的转速还需满足一定的关系。
关键词：RoboCup；中型组足球机器人；主动控球机构；原理；控制
中图分类号：TP24文献标识码：A文章编号：1001-4551(2009)11-0013-06

Design of the active ball handling mechanism of RoboCup MSL robot
LU Shengcai, HAI Dan, WANG Xiangke, SUN Fangyi, ZHENG Zhiqiang
(College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China)
Abstract: Aiming at lacking the theory analysis of the active ball handing technique for the RoboCup middle size league(MSL) soccer robot, the elements of the active ball handing technique were given, including the analysis of the configuration, the dynamics and the kinematics of the active ball handing mechanism. An active ball handing mechanism and the control method were designed and successfully used in the NuBot MSL soccer robot. The results indicate that the key of controlling the motion of the football effectively is the torque acted on the football should be controlled in real time according to the expected motion of the ball, and the speed of the wheel and the ball should be in proportion at the same time.
Key words: RoboCup; middle size soccer robot; active ball handling mechanism; element; control