| 足球机器人带球与击球机构设计及其控制 |
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| 引用本文： | 陈世荣,李永新,皮骄阳,杨杰.足球机器人带球与击球机构设计及其控制[J].中国科学技术大学学报,2006,36(12):1321-1324. |
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| 作者姓名： | 陈世荣 李永新 皮骄阳 杨杰 |
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| 作者单位： | 中国科学技术大学精密机械与精密仪器系,安徽合肥,230027 |
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| 摘 要： | 通过对带球机构进行静力学、运动学分析获得带球辊实现带球的理论最低转速;通过对击球机构的动力学分析获得理论最佳击球点和击球方位.依据理论分析结果对旋球式带球结构和电磁式击球机构进行机构优化设计,提高带球的稳定性和击球的准确度.
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| 关 键 词： | 机器人 机构 控制 |
| 文章编号： | 0253-2778(2006)12-1321-04 |
| 收稿时间： | 10 17 2005 12:00AM |
| 修稿时间： | 04 25 2006 12:00AM |
The design and control of the dribbling kicking systems of robot soccer players |
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| CHEN Shi-rong,LI Yong-xin,PI Jiao-yang,YANG Jie.The design and control of the dribbling kicking systems of robot soccer players[J].Journal of University of Science and Technology of China,2006,36(12):1321-1324. |
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| Authors: | CHEN Shi-rong LI Yong-xin PI Jiao-yang YANG Jie |
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| Institution: | Depantrnent of Precision Machinery and Precision Instrumentation , University of Science and Technology of China ,He f ei 230027,China |
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| Abstract: | The limitation of dribbler minimal angular velocity was obtained from the static and kinematic analysis of the dribbling system which enables maintenance control of the ball. Through the dynamic analysis of the kicking system, the optimal position and orientation of kicking were derived. Based on the above analysis,the dribbling system and kicking system were optimized in order to improve the stability and veracity. |
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| Keywords: | robots mechanism control |
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