DESIGN AND INTELLIGENT CONTROL OF A PIANO PLAYING ROBOT

摘要

This paper presents the development of a piano-playing robot in order to provide people a means of entertainment. The design and development of this project includes two parts: the design of a dexterous hand for manipulating a piano and a linear motion control system. The paper first discusses the design of dexterous hand. Then, a motion control solution is determined, a linear railing along with a rack and pinion gear are applied to produce the linear motion. Also, in order to improve the control performance of the linear motion system, the Extended Kalman Filter (EKF) Algorithm is adopted. Finally, a flow chart of the control system is presented. Experimental results show that the piano robot can play designated notes.