Design and motion control of a ping pong robot

Author

Yang, Ping ; Zhang, Zhengtao ; Wang, Huawei ; De Xu

Author_Institution

Key Lab. of Complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing, China

fYear

2010

Firstpage

102

Lastpage

107

Abstract

A ping pong robot with 5 degree of freedoms is designed in this paper. It consists of a PC, a high speed stereovision system with two smart cameras, AC servo motors and step motors. The hitting task of the ping pong robot is divided into three stages: the measurement and prediction stage, the planning stage and the execution stage. In the planning stage, we propose series of methods to plan the paddle trajectory, paddle posture, hitting speed according to the hitting information. Experiments of the robot versus a person are well conducted. The experimental results verify the effectiveness of the designed ping pong robot and the proposed methods.

Keywords

motion control; position control; robots; servomechanisms; stereo image processing; AC servo motors; execution stage; motion control; paddle posture; paddle trajectory; ping pong robot; planning stage; smart cameras; step motors; stereovision system; AC motors; Automation; Intelligent control; Planning; Robots; Stereo vision; Trajectory; control system; motion control; ping pong robot; speed planning; trajectory planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5553878

Filename

5553878