Trajectory and Control of a 2-Dof Offensive and Defensive Manipulator in Football Match

Kinematic analysis of a 2-d of offensive and defensive football match manipulator was proposed through the trial of football in this paper. A forward and reverse mathematic model of manipulator was founded. PLC programming software Sysmac Studio of OMRON was used for controlling the motion of the manipulator. The model calculation and predication show good agreement with the actual results, which means the parameters designed are reasonable and the motion arithmetic is correct. This study provides a basis for trajectory planning and motion control of manipulator.