Based on the model of Ball and Plate control system,a method of controlling table tennis balance by using multi-degree of freedom series robot arm is proposed.Firstly,the advantages and disadvantages of such balancing algorithms are analyzed from the model of Ball and Plate control system.Secondly,the kinematics of the six degrees of freedom tandem robotic arm is analyzed and verified on the experimental side.Lastly,simulation experiments of the robotic arm are carried out by Matlab software and Webots software to verify its accuracy.The simulation results show that the method of using multi-degree of freedom series manipulator to control table tennis balance has certain universality in general application scenarios.
关键词
六自由度机械臂/正逆运动学/轨迹规划/Matlab仿真/Webots仿真
Key words
six degrees of freedom robotic arm/forward and inverse kinematics/trajectory planning/Matlab simulation/Webots simulation
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