DESIGN AND ANALYSIS OF AN ACTIVE BALL-HANDLING MECHANISM FOR SOCCER ROBOT IN ROBOCUP

Aolin Tang, Qixin Cao, and Chunshan Xu

Keywords

Active allhandling, soccer robot, RoboCup, velocity coordinator, fuzzy control

Abstract

Dribbling ability is of great value to a soccer robot in the RoboCup Middle Size League (MSL). In the past, most soccer robots equipped passive ball-handling mechanism because of its simplicity. But it can only provide a quite limited control over the ball, while active ball-handling mechanism could improve the robot’s dribbling ability significantly. In this paper, an active ball-handling mechanism is designed and utilized in the Jiaolong soccer robot. The ballhandling mechanism consists of two friction wheels driven by DC motors and the ball-handling process is performed by individual control of two DC motors’ rotation velocities. In the first part of the paper, theoretical model of the active ball-handing mechanism is derived and effects caused by different ways of installation and different installation parameters are analyzed, which can help us design the ball-handling mechanism. After that, control system of active ball-handling is introduced. A velocity coordinator is devised to optimize the motion of robot. In addition, a position loop is added to prevent the ball from losing: based on the ball’s position obtained from the omni-directional vision system, a fuzzy controller is equipped to adjust velocities of two DC motors, so as to make sure the ball is always under control. The result of experiments show that it works as expected.

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