Five-degree-of-freedom table tennis partner training robot

Abstract

The invention discloses a five-degree-of-freedom table tennis partner training robot which comprises a mechanical unit and a control unit. Wherein the mechanical unit comprises an automatic pitching machine, a table tennis table, a ball screw linear module, a four-degree-of-freedom mechanical arm and a ball receiving device; the control unit comprises a visual system, a decision-making system and a control system; the visual system collects a motion image of a table tennis ball serving by the automatic serving machine for track prediction; the decision making system selects a proper ball hitting posture decision according to track prediction, and the robot is subjected to inverse kinematics solution and then transmitted to a motion controller in the control system; a motion controller of the control system controls all joints of the four-degree-of-freedom mechanical arm and a sliding table in the ball screw linear module to move on the table tennis table after path planning so as to drive a racket in the ball receiving device to complete horizontal linear motion and rotary motion to conduct ball hitting motion. The robot is enough in reachable space, high in ball hitting efficiency, low in operation difficulty and fast in response.

Description

technical field [0001] The invention relates to the field of light industrial robots, in particular to a five-degree-of-freedom table tennis sparring robot. Background technique [0002] With the development of robotics and artificial intelligence technology, the application field of intelligent robots has gradually expanded, and intelligent sports robots have also begun to move from experiment to application. The existing table tennis robots mainly include series robots (Zhongke), parallel robots (OMRON) and other types. The above series robots have many degrees of freedom and large reachable space, but the low hitting efficiency results in a waste of resources and is difficult to control. , slow response; the reachable space of the above-mentioned parallel robot is smaller than that of the series robot, many balls cannot be reached, and it is bulky and expensive. [0003] At the same time, the above-mentioned series and parallel table tennis robots lack an automatic ball ...

AI Technical Summary

Problems solved by technology

In order to solve the problems of many degrees of freedom and large reachable space but low hitting efficiency, which leads to waste of resources, difficult control, slow response speed, and low catch rate, etc., it realizes a ball with sufficient reachable space, high hitting efficiency and difficult operation. Low and fast response five-degree-of-freedom table tennis sparring robot

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