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Multi-axis control method and multi-axis control device for table tennis serving robot

A multi-axis control and table tennis technology, applied in sports accessories and other directions, can solve the problems of high implementation cost, redundant and complex control process, etc., and achieve the effect of reducing hardware cost and simple logic.

Active Publication Date: 2022-02-01
上海创屹科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This scheme of synchronous control of multi-axis motors of robots is transplanted to the control of table tennis serving robots. Although the multi-axis control of table tennis serving robots can also be realized, the control process is too redundant and complicated and the implementation cost is high.

Method used

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  • Multi-axis control method and multi-axis control device for table tennis serving robot
  • Multi-axis control method and multi-axis control device for table tennis serving robot
  • Multi-axis control method and multi-axis control device for table tennis serving robot

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Embodiment Construction

[0060] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly illustrate the spirit of the content disclosed in the application with the accompanying drawings and detailed descriptions. After any person skilled in the art understands the embodiments of the content of the application , when it can be changed and modified by the technology taught in the content of the application, it does not depart from the spirit and scope of the content of the application.

[0061] The exemplary embodiments and descriptions of the present application are used to explain the present application, but not to limit the present application. In addition, elements / members with the same or similar numbers used in the drawings and embodiments are used to represent the same or similar parts.

[0062] The terms "first", "second", ... etc. used herein do not specifically refer to a sequence or order, nor are they...

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Abstract

The application provides a multi-axis control method and a multi-axis control device of a table tennis serving robot. The multi-axis control method of the table tennis serving robot includes the following steps: obtaining an effective serving trajectory of the table tennis ball; according to the effective serving trajectory of the table tennis ball, According to the joint number N of the table tennis serving robot, the PWM control form is used to control the axes at the N-1 joints of the table tennis serving robot, and the CAN bus control form is used to control the axes at the remaining 1 joint of the table tennis serving robot. axis is controlled. The application adopts a single-chip microcomputer to realize the multi-axis control of the table tennis serving robot, which can greatly reduce the hardware cost, and the control process is simple and clear.

Description

technical field [0001] The application belongs to the technical field of motor control, and in particular relates to a multi-axis control method and a multi-axis control device of a table tennis serving robot. Background technique [0002] As a national sport, table tennis is deeply loved by Chinese people, so more and more people are participating in table tennis training. Yet also mainly rely on coach to serve or serve machine serve during table tennis training at present. It is still very rare to realize the coaching style serve in the form of a robot. In order to better help athletes perform daily exercises and training, a robot capable of serving the ball is needed to assist them in training. [0003] At this stage, there are few ways to realize the multi-axis synchronous control of table tennis serving robots. Existing industrial robots or service robots are mostly controlled by industrial computers or control boards. Most of the industrial computers are the main b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A63B69/40A63B67/04
CPCA63B69/40A63B67/04
Inventor 刘福川张海波杨跞许楠张文
Owner 上海创屹科技有限公司