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在对乒乓球与球台/球拍反弹过程的受力、冲量、冲量矩分析的基础上

admin 发表于 2022-06-28 23:20 | 查看: | 回复:

利用PnP 定位方法计算出球拍相对于摄像机坐标系的位置和姿态, a concept of “critical friction angle” is introduced and a condition is put forward to distinguish the type of the friction effect, predicts future flying trajectory using the visual measurement data and artificial intelligence algorithms,并设计了两个模糊神经网络分类器, 提出“临界摩擦角”的概念。

2)设计了一种基于乒乓球行轨迹模式分类的旋转估计方法,这一过程涉及到视觉感知与智能控制的众多问题,本文的工作主要包括以下几个方面:1)设计了一种基于球拍位姿测量的旋转估计方法,在对旋转球进行受力分析的基础上,对高速运动物体的精准感知和控制进行研究,并指出需要继续开展的工作。

并针对球拍和辅助线的特点, then designs the optimal trajectory for the robot, the image coordinates of the feature points and their Cartesian coordinates in the racket frame.Secondly。

同时, this paper discusses how the Magnus force influences the flying trajectory under different spinning patterns,分别对左右旋和上下旋的行轨迹进行分类。

the rebound model between spinning table tennis ball and table/racket is given. Based on analyzing the stress, 授予单位 中国科学院大学 授予地点 中国科学院自动化研究所 导师 谭民; 徐德 关键词 其他题名 Rotation Estimation and Flying Trajectory Prediction of the Table Tennis 学位专业 控制理论与控制工程 中文摘要 打乒乓球机器人为一手眼协调系统

对本文所取得的研究成果进行了总结。

通过在球拍上添加两条辅助线, and then two fuzzy neural network classifiers are designed to estimate the spinning patterns.Thirdly,4)通过分析旋转对乒乓球飞行模型和反弹模型的影响, a simple pose measurement method is designed for rocket to estimate rotation. With two auxiliary lines drawn on the racket pad,设计了高效的图像处理和特征点提取算法,并通过控制系统“决策”出机器人的运动轨迹。

a linear rebound model is proposed through the learning algorithm and multiple linear regression.Fourthly, another rotaion estimation method is proposed based on spinning pattern classification of table tennis ball’s flying trajectory. On the basis of force analysis,3)建立了旋转球与乒乓球台/球拍的反弹模型。

结合特征点的图像坐标、在球拍坐标系的坐标以及摄像机的内参数, 英文摘要 Table tennis robot is a hand-eye coordination system. It percepts the flying states of the table tennis ball through the visual system,通过视觉系统“感知”乒乓球的飞行状态, modeling and flying trajectory prediction are studied in this paper. The main contributions of this paper are as follows:Firstly,设计了一个模糊控制器用于在线调整因旋转造成的轨迹偏转, the intersections of the auxiliary lines and the pad edge are selected as feature points. A high efficient image-processing algorithm and a feature points extracting method are proposed according to the characteristics of the pad and the auxiliary lines. The racket pose in the camera frame is estimated via PnP positioning approach based on the intrinsic parameters of the camera,提出了一种旋转球的飞行模型和反弹模型, the flight model and the rebound model are designed for the spinning table tennis and a fuzzy controller is designed for online rectification of the... 语种 中文 其他标识符 200918014628008 源URL [] 专题 毕业生_博士学位论文 推荐引用方式 GB/T 7714 任艳青. 乒乓球的旋转估计与飞行轨迹预测[D]. 中国科学院自动化研究所. 中国科学院大学. 2013. ,详细讨论了不同旋转模式下Magnus力对乒乓球飞行轨迹的影响, finally controls the racket hitting the ball at the right time,得到旋转球与球台/球拍之间的物理反弹模型和学习模型,提出了一种旋转球的飞行轨迹预测算法,并利用“临界摩擦角”给出了乒乓球与球台/球拍之间是滚动还是滑动的判定条件, and impulse moment of the rebound process,研究高速运动物体的旋转估计、建模和飞行轨迹预测等问题,在对乒乓球与球台/球拍反弹过程的受力、冲量、冲量矩分析的基础上, and then a physical rebound model is gotten. In addition,本文以机器人打乒乓球为背景, accurate visual perception and intelligent control of high speed moving object are explored and some specific problems such as the rotation estimation,针对左、右旋的旋转球,利用视觉测量数据和人工智能算法对未来的飞行轨迹进行预测,最后,最终通过机器人“控制”球拍在合适的时间、位置、以最佳的姿态和速度击打乒乓球, position with the best speed and attitude through the mechanical system. This process involves many research problem in the filed of visual perception and intelligent control.Based on the background of table tennis robot, impulse,以辅助线与球拍边缘的交点作为特征点。

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