Decoupling Control in Spiking Pose Modification of Volleyball Training Robot
Because the volleyball training robot needs multi loop control in the spiking position and posture control process,the in-teraction between different control loops leads to the coupling interference between different loops.To obtain a good training ef-fect,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 calculat-ed.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 regula-tion 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 an-gle 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.
Volleyball TrainingRobotCoupling InterferenceSpike PositionExtended Kalman FilterPosition And Attitude CorrectionDecoupling Control
万方数据
维普
