Title :
Design and motion control of a ping pong robot
Author :
Yang, Ping ; Zhang, Zhengtao ; Wang, Huawei ; De Xu
Author_Institution :
Key Lab. of Complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing, China
Abstract :
A ping pong robot with 5 degree of freedoms is designed in this paper. It consists of a PC, a high speed stereovision system with two smart cameras, AC servo motors and step motors. The hitting task of the ping pong robot is divided into three stages: the measurement and prediction stage, the planning stage and the execution stage. In the planning stage, we propose series of methods to plan the paddle trajectory, paddle posture, hitting speed according to the hitting information. Experiments of the robot versus a person are well conducted. The experimental results verify the effectiveness of the designed ping pong robot and the proposed methods.
Keywords :
motion control; position control; robots; servomechanisms; stereo image processing; AC servo motors; execution stage; motion control; paddle posture; paddle trajectory; ping pong robot; planning stage; smart cameras; step motors; stereovision system; AC motors; Automation; Intelligent control; Planning; Robots; Stereo vision; Trajectory; control system; motion control; ping pong robot; speed planning; trajectory planning;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5553878
