Modeling And System Research Of Kicking System Of Medium-sized Robot

The purpose of soccer robot competition is to promote robot technology and multi-agent research with a friendly environment. The autonomous soccer robot needs high requirements in time and accuracy; it involves many `fields like mechanism, electronics, control, pattern recognition, image process, artificial intelligence and so on. Kicking system is the execution module which is also related to other previous technologies, so its performance directly affects the whole robot system.The competition is becoming fiercer and the performance of robot is also getting better since the development of information and automation technology as well as more robot teams competing in. The development of kicking system can't meet other more advanced requirements of robot nowadays, and the trend is likely getting worse. There are two important problems about the kicking system. Firstly, it is about the control method, there is no quantitative method to decide ball's motion distance and height, the control distance can just be estimated not accurately, so it's not convenient for control. Secondly, there are no variable kicking choices which should adjust to different situations. Kicking system can't make different actions like direct pass, low angle control kicking and so on.The General Bar autonomous middle sized soccer robot of Chongqing University is used as a platform in this thesis. We considered the real situation of robot in competition to improve the performance of kicking system. The chance of successful shooting is improved. Though the improvement of this module, we can get more chance of controlling the ball which is mainly depended on advantages of other parts previously. This thesis mainly worked as follows:At first, the existed situation of kicking system is introduced. A new kicking model for solving these existed problems of kicking system is proposed based on electromagnet which can improve functional structure to meet different situations. After that, mathematical model of kicking system is established by using mechanism modeling and simplifying the working situation of capacitor and electromagnet.Then, related control hardware, electrical circuit and interface program are designed which can fulfill the adjustment of kicking's power and realize the function of designed kicking system. At last, experimental platform is built; data from real model was used to do parameter identification. The result validates the accuracy of mathematical model (fitness curve) and effectiveness of the kicking system.