排球训练机器人扣球位姿修正中的解耦控制

Decoupling Control in Spiking Pose Modification of Volleyball Training Robot

因排球训练机器人在扣球位姿控制过程中需要多回路控制,不同控制回路之间相互影响,导致存在不同回路之间的耦合干扰,要获得良好的训练效果,需要对排球训练机器人在扣球训练过程中的耦合干扰进行解耦控制。为此,提出一种针对排球训练机器人扣球位姿修正的解耦控制方法。根据机器人的主要能量和扣球速度独立非线性项计算排球机器人姿态运动参数,采用扩展卡尔曼滤波器,估计机器人在扣球训练过程中的位姿。根据机器人位姿估计结果,建立位姿修正解耦控制的目标函数,并设定扣球位姿控制的约束参量,引入变步长动态平衡反馈调节方法实现单一回路的解耦控制。实验结果表明:这种解耦控制方法在x轴和y轴中的跟踪误差均低于0.3m,在控制过程中的俯仰角、关节旋转角度和加速度变化曲线与设定期望值相符,证明所提方法可有效提高排球训练机器人的跟踪精度和控制效果,获得较好训练效果。

Because the volleyball training robot needs multi loop control in the spiking position and posture control process,the interaction between different control loops leads to the coupling interference between different loops.To obtain a good training effect,it is necessary to decouple the coupling interference of the volleyball training robot in the spiking training process.For this reason,a decoupling control method for spiking posture modification of volleyball training robot is proposed.The mathematical model of the volleyball training robot is established according to posture kinematics and dynamics.According to the independent nonlinear terms of the robot's main energy and spiking speed,the motion parameters of the volleyball robot's posture are calculated.The extended Kalman filter is used to estimate the robot's posture during spiking training.According to the robot's position and posture estimation results,the objective function of the position and posture correction decoupling control is established,and the constraint parameters of the spiking position and posture control are set.The variable step dynamic balance feedback regulation method is introduced to realize the decoupling control of a single loop.The experimental results show that the tracking error of this decoupling control method in the x axis and y axis is less than 0.3m,and the change curves of pitch angle,joint rotation angle and acceleration in the control process are consistent with the set expected values,which proves that the proposed method can effectively improve the tracking accuracy and control effect of the volleyball training robot,and obtain better training results.