摘要
研究智能陪练机器人,针对乒乓球的运动特性,练球过程需要陪练,增加了负担,影响效果。为了利用科学手段提高训练水平,提出设计能够发球和击球的乒乓球机器人,能够提高乒乓球运动的训练科技含量,并且推动智能控制、人机对抗领域的发展。实现精准的各种击球和发球的动作仿真,需要深入了解乒乓球的飞行轨迹特性。结合空气动力学,设定了乒乓球的动力学模型,包括重力、空气阻力和玛格努斯力,设计并实现了基于ODE的交互式可视化仿真环境。以旋转球为重点,对乒乓球的运动轨迹进行了仿真。实验结果验证了运动学模型的准确性,并提高了效率,为揭示乒乓球运动规律,乒乓球机器人的运动学和动力学研究提供了科学依据。
The motion characteristics of ping-pong are investigated via simulation, which further promotes the de- sign of ping-pong robot, and helps not only training and technicality of this sport, but also the development of intelli- gent control and human-machine competition. The mastery of trajectory characteristics of ping-pong is necessary for precise serve and drive. A dynamic model of ping-pong is set up according to aerodynamics, involving gravity, air resistance, and Magnus. Furthermore, a visual, interactive simulation platform is implemented based on ODE, based on which, a great deal of trajectory simulations are carded out, especially for the whirly. The results validate the ex- actness and efficiency of the dynamic model and the simulations, providing an experimental basis for further research on ping-pong game theorem and robot kinematics and dynamics.
出处
《计算机仿真》
CSCD
北大核心
2011年第9期230-233,共4页
Computer Simulation
基金
辽宁省科学技术基金项目(20091059)
中国航空科学基金项目(2008ZC54)
关键词
乒乓球
仿真
节拍
轨迹
智能控制
Ping-pong
Simulation
Step
Trajectory
Intelligent control
