Design And Research Of Piano Teaching Manipulator System

With the improvement of China’s social productivity and economic level,more and more people learn to play the piano,but the limited piano teachers don’t meet the requirements.In view of this situation,a piano teaching manipulator system is proposed to assist piano beginners in the practice of key-touching.The main research contents are as follows:An underactuated exoskeleton design scheme of piano teaching manipulator is proposed.A rigid aligned structure is designed to ensure the precision of key-touching action.According to the motion law of key-touching action,an underactuated wire transmission scheme of manipulator is designed.In addition,the dynamic equation of the manipulator is established by the Euler-Lagrange method.A control system framework of piano teaching manipulator is proposed.The framework includes two parts,the lower computer and the upper computer.The lower computer is used to control the piano teaching manipulator to drive the finger to carry out the practice of key-touching.The upper computer is used for human-computer interaction.Based on the embedded real-time operating system Free RTOS,each task program of the lower computer is developed.The upper computer is developed based on C# WinForm to monitor the trajectory of key-touching action.The upper computer communicates with the lower computer through bluetooth.An active disturbance rejection iterative learning control algorithm is proposed to track the trajectory of key-touching action.The algorithm combines the advantages of active disturbance rejection control algorithm and iterative learning control algorithm.It is verified that the proposed control algorithm has good anti-interference ability and robustness.Through this algorithm,the piano teaching manipulator can be well controlled to drive the finger to carry out the practice of key-touching action.The prototype of the piano teaching manipulator was made,and the experimental platform of the piano teaching manipulator system was built.On the experimental platform,a comparative experiment of passive practice and voluntary active practice of key-touching action was carried out.The experimental results show that for piano beginners,the effect of passive practice is better than that of voluntary active practice.The experiment verifies that the piano teaching manipulator system designed in this paper has a good teaching effect.