A target tracking robot based on fuzzy control

A fuzzy tracking system of an irregular movement object is presented. The system consists of a manipulator with 3-degrees of freedom, an image processor, a personal computer, a wooden board equipment (like pinball) and 2 controllers. An arriving line is set up on the pinball board. A black ball used as the dropping object drops from the top of the board. Before reaching the arriving line, the image processor observes the movement of the ball. The personal computer converts the movement obtained from the image processor into the route condition and velocity of the ball, and performs fuzzy reasoning to predict the position where the ball will reach the arriving line, and utilizes a linear equation to compute the timing when the ball reaches the arriving line. According to the information of position and timing, the robot throws a white ball to hit the ball