Racket control and its experiments for robot playing table tennis

This paper proposes a racket control method for returning a table tennis ball to a desired position with a desired rotational velocity. The method determines the racket´s state, i.e., the racket´s striking posture and translational velocity by using two physical models: racket rebound model and aerodynamics model. The algorithm of determining the racket´s state is derived by solving nonlinear equations and solving two points boundary value problems of differential equation. Numerical simulations and experimental results show effectiveness of the proposed methods.