چکیده مقاله
This study investigates the modeling and control of overarm movements in handball throw and volleyball spike The objective is to develop an adaptive control system capable of accurately replicating these high speed upper limb actions The kinematic and dynamic structures of the arm are modeled using the Denavit–Hartenberg method, providing a systematic framework for deriving the motion equations of each joint A Fuzzy Proportional–Integral–Derivative Fuzzy PID controller is implemented to achieve precise trajectory tracking The controller integrates fuzzy logic with conventional PID control to dynamically adjust gains based on real time feedback, ensuring robust performance under varying motion conditions Simulations are carried out for both sports to compare joint angles, torques, and tracking errors Results show that the Fuzzy PID controller effectively tracks desired trajectories with minimal overshoot and steady state error The handball throw exhibits higher torque requirements, while the volleyball spike demonstrates greater coordination among multiple joints These findings highlight the efficiency of the proposed control approach in managing complex overarm dynamics The developed framework can be applied in humanoid robotics, prosthetic systems, and sport biomechanics for improved motion replication and analysis
کلیدواژهها
نویسندگان
Ali Kheiri
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
Erfan Sedaghat
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
Seyyed Arash Haghpanah
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
شیوه ارجاع
Kheiri, Ali and Sedaghat, Erfan and Haghpanah, Seyyed Arash,1404,Comparative Analysis of Handball and Volleyball Overarm Movements Using Fuzzy PID Control,6th International Conference Of Sports Science, Physical Education, Nutrition and New Psychology Research
ارائهشده در
مجموعه مقالات ششمین کنفرانس بین المللی علوم ورزشی، تربیت بدنی، تغذیه و پژوهش های نوین روانشناسی30 آبان 1404