Design and Analysis of a Blind Juggling Robot
Design and Analysis of a Blind Juggling Robot
复制标题
盲人杂耍机器人的设计与分析
DOI：
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发表时间：
2012
影响因子：
7.8
通讯作者：
R. D’Andrea
中科院分区：
文献类型：
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作者：
Philipp Reist;R. D’Andrea
我们提出了设计的盲人杂耍：一个机器人，能够杂耍一个不受约束的球没有反馈的高度高达2米。机器人驱动一个抛物线铝桨与线性电机。我们用两个设计参数实现了球轨迹的开环稳定性：1）抛物线桨的曲率和2）撞击时桨的加速度。我们推导出一个线性映射的标称球轨迹的扰动在一个单一的反弹，并获得局部稳定的轨迹通过调整这个映射的特征值与两个设计参数。在这个分析中，我们考虑了九个球的状态，包括球的旋转。实验数据提供了球和桨的冲击状态。从这些数据中，我们可以识别系统参数并推断引入系统的过程噪声。然后，我们结合联合收割机的实验噪声功率谱密度与系统的模型和优化的设计参数，使过程噪声对杂耍性能的影响最小化。理论以及实验结果的优化进行了讨论。
We present the design of the Blind Juggler: a robot that is able to juggle an unconstrained ball without feedback at heights of up to 2 m. The robot actuates a parabolic aluminum paddle with a linear motor. We achieve open-loop stability of the ball trajectory with two design parameters: 1) the curvature of the parabolic paddle and 2) the acceleration of the paddle at impact. We derive a linear map of perturbations of the nominal ball trajectory over a single bounce and obtain local stability of the trajectory by tuning the eigenvalues of this mapping with the two design parameters. We consider nine ball states in this analysis, including ball spin. Experimental data provide the impact states of the ball and paddle. From these data, we can identify system parameters and infer the process noise introduced into the system. We then combine the experimental noise power spectral densities with a model of the system and optimize the design parameters such that the impact of the process noise on juggling performance is minimized. Theoretical as well as experimental results of the optimization are discussed.