A novel ball handling mechanism for the RoboCup middle size league
| Autor: | Jeroen de Best, M Maarten Steinbuch, René van de Molengraft |
|---|---|
| Přispěvatelé: | Control Systems Technology, Mechanical Engineering |
| Jazyk: | angličtina |
| Rok vydání: | 2011 |
| Předmět: |
Engineering
business.industry Mechanical Engineering Circuit design Feed forward Control engineering Robotics Feedback loop League Motion control Computer Science Applications Control and Systems Engineering Ball (bearing) Robot Artificial intelligence Electrical and Electronic Engineering business Simulation |
| Zdroj: | Mechatronics, 21(2), 469-478. Elsevier |
| ISSN: | 0957-4158 |
| DOI: | 10.1016/j.mechatronics.2010.04.001 |
| Popis: | This paper presents the hardware design and control design of a novel ball handling mechanism in the RoboCup Middle Size League used by team Tech United Eindhoven. The ball handling mechanism consist of two levers with two actively driven wheels attached to it, to exert forces on the ball in order to control its position relative to the robot. The proposed design is fully compliant to the rules and regulations imposed by the RoboCup Middle Size League community. The control design consists of a cascaded velocity and position feedback loop in combination with a feedforward controller which compensates for the robots ego motion. The proposed design is validated on a robot used by the Tech United Eindhoven team. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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