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Build to kick kick to win

Build to kick kick to win. Shooting skills. Outline. Shooting mechanism System description A ctuator design Lob shots Identification Calibration Towards c ontrolled shooting Problem description Proposed implementation. Shooting mechanism. Requirements and specifications.

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Build to kick kick to win

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  1. Build to kick kick to win

  2. Shooting skills

  3. Outline Shooting mechanism System description Actuator design Lob shots Identification Calibration Towards controlled shooting Problem description Proposed implementation

  4. Shooting mechanism

  5. Requirements and specifications Requirements: Controllable Hard / soft Lob / flat Repeatable Specifications vf = 9ms-1 xf = 90 mm tf = 20 ms a ≈ 450 ms-2

  6. System description

  7. Actuator design Mechanical design Electromagnetic design

  8. Actuator design 1.5T 2.4T Meessen, K.J., Paulides, J.J.H. & Lomonova, E. (2010). A football kicking high speed actuator for a mobile robotic application. Proceedings of the 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, 7-10 November 2010, Glendale, Arizona, (pp. 1659-1664). Investigated aspects Saturation Eddy currents Losses Thermal issues

  9. Actuator design Final design Total mass: 4.5 kg Peakforce: 700N Peakcurrent: 110A

  10. Outline Shooting mechanism System description Solenoid actuator design Lob shots Identification Calibration Towards controlled shooting Problem description Proposed implementation

  11. Lob shots: trajectory Largest gradient possible

  12. Lob shots: identification General function between distance and duty cycle: Each actuator has its own actuator characteristic

  13. Lob shots: calibration Measure distance For accurate fit at least 3 measurements are necessary

  14. Lob shots: calibration Manual calibration using a Matlabgui For accurate fit at least 3 measurements are necessary

  15. Lob shots: tuning The perfect lob shot Shoot just under de goal crossbar Lob trajectory depends on distance ball to the goal

  16. Lob shots: tuning The perfect lob shot Shoot just under de goal crossbar Lob trajectory depends on distance ball to the goal

  17. Outline Shooting mechanism System description Solenoid actuator design Lob shots Identification Calibration Towards controlled shooting Problem description Proposed implementation

  18. Problem description Increasing ball output speed accuracy • Currently a large variation between Turtles • Makes tuning difficult • Current relation between kick-effort and ball output speed is not linear • Also increases tuning complexity • Current system is open-loop • Tuning per Turtle is possible, though time consuming • Desired: more predictable behavior • Tuning effort/time decreases • More linear behavior • Decrease of variation between Turtles

  19. Proposed implementation Encoder Lever Plunger Ball Solenoid Controlalgorithm Amplifier + Actuator PWM signal PC + IO stack Encoder value Encoder

  20. Proposed implementation

  21. Proposed implementation Controlling the lever speed Both time and encoder resolution pose limitations Due to design of solenoid 'braking' is not possible: speed overshoot is not allowed Main idea is to 'guide' lever + ball to end speed, instead of kicking/hitting

  22. Proposed implementation: simulation Current situation

  23. Proposed implementation: simulation Proposed solution

  24. Summary and conclusions Design and optimization of the shooting mechanism Identified an exponential relation between the duty cycle and kicking distance for lob shots Lob shot calibration using an graphical user interface Feedback control design for the output speed of the ball Modeling and simulation of the feedback controlled shooting mechanism

  25. Thank you for your attention

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