Paddle Juggling of one Ball by Robot Manipulator with Visual Servo

This paper proposes a method to achieve paddle juggling of a ball by a racket attached to a robot manipulator with two visual camera sensors. The proposed method is composed of juggling preservation problem and ball regulation problem. The juggling maintenance problem means going on hitting the ball iteratively. The ball regulation problem means regulating the position and orientation of the hit ball. The juggling preservation problem is achieved by the tracking control of the racket position for a symmetry trajectory of the ball with respect to a horizontal plane. The ball regulation problem is achieved by controlling the racket orientation, which is determined based on a discrete transition equation of the ball motion. The effectiveness of the proposed method is shown by an experimental result