本文研究的是羽毛球辅助训练装置的运动检测系统，并根据检测要求进一步设计出了基于STM32的控制系统。文章利用MATLAB建立了五自由度的机器人手臂模型，就羽毛球击球的动作进行了仿真分析，得到手臂末端运动轨迹以及关节运动轨迹，设计出了一款外骨骼结构的穿戴式五自由度辅助训练装置。根据该训练装置的检测要求，选择增量式编码器作为关节角度检测装置，并且通过增加传动链的方式解决了部分特殊结构的关节角度检测。最后给出了辅助训练装置的控制系统的软硬件设计方案，进行了基于编码脉冲数据处理的算法设计。
This paper studies the motion detection system of badminton auxiliary training device, and further designs the control system based on STM32 according to the detection requirements. In this paper, a five-degree freedom robot arm model is established by using MATLAB, the badminton hitting action is simulated and analyzed, the arm end motion trajectory and joint motion trajectory diagram are obtained, and a wearable five-degree freedom auxiliary training device with exoskeleton structure is designed. According to the testing requirements of the training device, the incremental encoder is selected as the joint angle detection device, and the joint angle detection of some special structures is solved by adding transmission chain. Finally, the software and hardware design scheme of the control system of the auxiliary training device is given, and the algorithm design based on coded pulse data processing is carried out.
