Trajectory and Control of a 2-dof Offensive and Defensive Manipulator in Football Match

被引：6
|
作者：
Zheng, Ying [1 ]
Wang, Mi Mi [1 ]
Li, Xiang Jv [1 ]
Zhang, Li Zhen [1 ]
机构：
[1] Southeast Univ, Chengxian Coll, Dept Elect Engn, Nanjing, Jiangsu, Peoples R China
来源：
2015 7TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS IHMSC 2015, VOL I | 2015年
关键词：
2 degree of freedom; offensive and defensive manipulator; trajectory; motion control;
D O I：
10.1109/IHMSC.2015.49
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Kinematic analysis of a 2-d of offensive and defensive football match manipulator was proposed through the trial of football in this paper. A forward and reverse mathematic model of manipulator was founded. PLC programming software SysmacStudio of OMRON was used for controlling the motion of the manipulator. The model calculation and predication show good agreement with the actual results, which means the parameters designed are reasonable and the motion arithmetic is correct. This study provides a basis for trajectory planning and motion control of manipulator.
引用
收藏
页码：109 / 112
页数：4
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