System design of an Anthropomorphic arm robot for dynamic interaction task

Author

Yu, Zhangguo ; Huang, Qiang ; Chen, Xuechao ; Xu, Wei ; Li, Jing ; Ma, Gan ; Chen, Xiaopeng ; Zhang, Weimin ; Wang, Huaping ; Zhang, Si ; Fan, Ningjun

Author_Institution

Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China

fYear

2011

fDate

23-25 May 2011

Firstpage

4204

Lastpage

4209

Abstract

This paper investigates the system design of a 7-DOFs Anthropomorphic arm robot for fast dynamic interaction task, taking the ping-pong rally task against human as an example. The robot system includes the arm mechanism, real-time stereo vision sub-system, ball trajectory prediction, racket motion trajectory planning, and distributed joint controllers. The algorithms for ball identification, ball trajectory prediction, and hitting planning are presented. The validity of the system is demonstrated via rally experiments.

Keywords

manipulator dynamics; path planning; real-time systems; stereo image processing; 7-DOF anthropomorphic arm robot; arm mechanism; ball identification; ball trajectory prediction; distributed joint controllers; dynamic interaction task; hitting planning; ping-pong rally task; racket motion trajectory planning; real-time stereo vision subsystem; robot system; system design; Humans; Joints; Machine vision; Planning; Real time systems; Robots; Trajectory; Ping-pong robot; dynamic interaction; motion planning; trajectory prediction;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2011 Chinese

Conference_Location

Mianyang

Print_ISBN

978-1-4244-8737-0

Type

conf

DOI

10.1109/CCDC.2011.5968964

Filename

5968964