A control system of a ping-pong robot arm based on fuzzy method

Xiaowen Yu*, Jing Xu, Shaoli Liu, Ken Chen

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

This paper presents a 6-revolutional degree of freedoms (DOFs) low-cost arm of a ping-pong robot driven by 6 actuators. Design, control, simulation and performance of this arm are examined in this paper. The task in this study is to make the ping-pong ball stay in the racket at a balanced location. The arm comprises three main components, a three DOFs arm, a spherical wrist, and a ping-pong racket. A key design goal of the control is the timeliness: controller has to meet the requirements of the real-time operation speed. Therefore, to enhance the speed of calculation and reduce the cost, the arm manipulating control has been implemented based on fuzzy algorithm and is accomplished using an ATmega128 MCU, which is able to calculate the angular position of joints real-time. Infrared touch screen is installed as a sensor to automatically obtain the position of the ball, according to which controller adjusts the orientation of the wrist in order to keep the ball in racket. Experimental results illustrate the efficacy in the arm and racket system.

源语言英语
主期刊名2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
398-403
页数6
DOI
出版状态已出版 - 2011
已对外发布
活动2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, 中国
期限: 7 8月 201110 8月 2011

出版系列

姓名2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

会议

会议2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
国家/地区中国
Beijing
时期7/08/1110/08/11

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