[1]龙迎春,刘思广,李诺轩,等.光机电一体化桌面冰球对决系统设计[J].机械与电子,2017,(07):60-63,68.
　LONG Yingchun,LIU Siguang,LI Nuoxuan,et al.On the Design of Opto-Mechatronics Desktop Hockey System[J].Machinery & Electronics,2017,(07):60-63,68.
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光机电一体化桌面冰球对决系统设计
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年07期
页码:
60-63,68
栏目:
智能工程
出版日期:
2017-07-25

文章信息/Info

Title:
On the Design of Opto-Mechatronics Desktop Hockey System
文章编号:
1001-2257(2017)07-0060-04
作者:
龙迎春; 刘思广; 李诺轩; 李玉华; 黄基荣; 宋玉春
(韶关学院物理与机电工程学院,广东 韶关 512005)
Author(s):
LONG Yingchun; LIU Siguang; LI Nuoxuan; LI Yuhua; HUANG Jirong; SONG Yuchun
(School of Physics and Mechanical and Electrical Engineering,Shaoguan University,Shaoguan 512005,China)
关键词:
NJ控制器;  并联机械手;  图像处理系统;  轨迹追踪算法;  运动学逆解算法
Keywords:
NJ controller;  parallel manipulator;  image processing system;  trajectory tracking algorithm;  kinematics inverse algorithm
分类号:
TP241
文献标志码:
A
摘要:
利用并联机械手惯性小、动作速度快、控制精度高的特点,结合机器视觉反馈信息,设计了一套基于欧姆龙NJ控制器、FH图像处理系统、并联机械手等组成的光机电一体化桌面冰球对决系统。考虑小球撞击桌面侧边,沿折射方向运动对小球运动轨迹的影响,建立了具有补偿量的小球运动轨迹追踪模型,确定了机械手平动盘目标位置与FH图像处理系统实时获取的桌面小球位置间的关系; 并基于运动学逆解算法,实时确定并联机械手伺服电机转角目标值。基于此目标值,NJ控制器控制并联机械手快速追踪小球位置,实现两机械手桌面冰球对决。
Abstract:
According to the characteristics of small inertia, fast response, and high control precision of the parallel manipulator, a set of opto-mechatronics desktop hockey system based on OMRON NJ controller, FH image processing system, and parallel manipulator was designed in this research. Firstly, the trajectory tracking model with compensation factors was established considering that the ball moves in the direction of refraction after hitting the side of the table. In addition, the relations between the target position of the manipulator and the real-time position of the desktop ball obtained by FH image processing system was determined. Secondly, the real-time angle target value for the parallel manipulator servo motor was determined based on the kinematics inverse algorithm. Finally, based on the target value, the NJ controller was used to control the parallel manipulator and to track the ball position quickly so as to realize the battle between the desktop hockey controlled by two manipulators.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-03-01
基金项目:广东省高校国际暨港澳台合作创新平台项目(2015KGJHZ025); 广东省大学生创新创业训练计划项目(201610576036)
作者简介:龙迎春(1970-),男,湖南邵阳人,博士,副教授,研究方向为机电系统控制及智能化技术。
更新日期/Last Update: 2017-07-25