钢琴自动弹奏机械手系统及其控制算法设计

Design of Automatic Piano playing Manipulator System and Its Control Algorithm

在机器人控制理论和钢琴演奏技法的基础上,文章提出了一种通过在机械控制、电磁控制、软件控制等层面对钢琴自动弹奏系统进行综合设计优化的方法,并设计了一种基于可控力度的琴键击锤系统,以实现钢琴的机器人自动弹奏。研究结果表明,在应用机械手弹奏系统时,50名音乐学院钢琴专业本科四年级学生中,有26人认为该机器人的演奏技法达到或者超过了他们的技法掌握程度,占总数的52%。另外,音乐厅邀请的50位专业资深钢琴教师中,有22人表示该机器人的演奏水平达到了商业演出标准,占总数的44%。虽然该机器人在情感表达上尚有不足,但已经得到了较大比例听众的认可。

Based on robot control theory and piano playing techniques,integrated design optimization of an automatic piano playing system through mechanical,electromagnetic and software control is proposed.Automatic piano playing by robots can be realized by designing a keyboard hammering system based on controllable force.The results of the study show that 26 out of 50 senior undergraduates majoring in piano at the Conservatory of Music felt that the robot's performance technique with a manipulator playing systemmet or exceeded their mastery of technique,accounting for 52%;24 out of 50 professional senior piano teachers invited by the concert hall considered that the robot's performance level was up to the standard of commercial performance,accounting for 44%.The results suggest that the robot's performance can be recognized by a large percentage of the audience,although it is not yet sound in terms of emotional expression.