Title :
Trajectory prediction of spinning ball for ping-pong player robot
Author :
Huang, Yanlong ; Xu, De ; Tan, Min ; Su, Hu
Author_Institution :
State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
Abstract :
An analytic flying model that can well represent the physical behavior is derived, where the ball´s self-rotational velocity changes along with the flying velocity. Based on the least square method, a rebound model that represents the relation between the velocities before and after rebound is established. The initial trajectory is fitted to three second order polynomials of the flying time with the measured positions of the ball. The initial velocities of the ball in the analytic flying model, including the flying velocity and the self-rotational velocity, are computed from the polynomials. The ball´s landing position and velocity is predicted with the model. The velocities after rebound are determined with the rebound model. By taking the velocities after rebound as new initial ones, the flying trajectory after rebound is described with the model again. In other words, the ball´s trajectory is predicted. Experimental results verify the effectiveness of the proposed method.
Keywords :
Position measurement; Predictive models; Robot kinematics; Spinning; Trajectory; Velocity measurement; Trajectory prediction; flying modeling; least square method; ping-pong player robot; rebounding modeling; spinning ball;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6095044