Basic Pose Control Algorithm of 5-DOF Hybrid Robotic Arm Suitable for Table Tennis Robot

摘要：

The development and the composition of table tennis robot are introduced. Based on the moving characteristic of table tennis, a sort of 3-RPUR+RP 5-DOF hybrid robotic arm is put forward, which can perform three translational DOFS and two rotational DOFS. By using D-H parameter method and XYZ Euler angle, the kinematic inverse solution of the hybrid robotic arm is analyzed and the pose of the racket is described conveniently. The pose control equation is deduced, which can transform the racket pose in working space into the parameters of the driving axis in joint space. By using ADAMS software, the motion simulation is performed so as to prove the theoretical analysis effectively. The basic algorithm lays the theoretical foundation for the successful 5-axis simultaneous control of the table tennis robot.

关键词： Table Tennis Robot Five Degrees of Freedom Hybrid Robotic Arm and Inverse Solution of Pose

作者: ZHENG Kuijing CUI Pei MAO Haixia

作者单位: Mechanical Engineering College, Yanshan University, Qinhuangdao, 066004, P.R.China E&A College of Hebei Normal University of Science & Technology, Qinhuangdao, 066004, P.R.China

会议类型: 国际会议

会议名称: The 29th Chinese Control Conference(第二十九届中国控制会议)

会议地点: 北京

会议语种:英文

页码: 1-6

在线出版日期: 2010-07-29（万方平台首次上网日期，不代表论文的发表时间）