摘要
为提高6自由度乒乓球机器人手臂的击球命中率,在Windows框架下,利用OpenGL和C++的混合编程建立了机器人手臂模型,并运用分解加速度控制算法和函数插值算法对机械手臂末端进行轨迹规划控制,实现了手臂末端沿直线和抛物线2种轨迹运动。仿真结果表明,分解加速度控制算法能够提高手臂击球的命中率。
To improve the batting hit rate of six-degree-of-freedom ping-pang robot arm, a model of robot arm is constructed with mixed programming of OpenGL and C＋＋ in the frame of Windows. Decomposing acceleration control algorithm and function interpolation algorithm are used for trajectory planning and controlling the end of the mechanical arm. The end of the arm moving along a straight line trajectory and a parabolic trajectory is implemented in the model. Simulation results show that decomposing acceleration control algorithm can improve the hit rate of robot arm batting.
出处
《安徽工业大学学报（自然科学版）》
CAS
2014年第2期167-172,共6页
Journal of Anhui University of Technology（Natural Science）
基金
安徽省自然科学基金(1308085QF113)
