A shooting robot based on the minimum actuator / sensor realization

For a shooting robot capable of capturing a target, like casting manipulation, we discuss the issue on how many actuators and sensors are necessary and sufficient, since it is the core of the subject launching a rotating object with the angular velocity of ω and the releasing angle θ. In order to pre-determine the point( xl, yl ) where the object eventually lands, we create a mapping between the coordinates of ( xl, yl ) and (ω,θ). The experimental results show a fairly well match between the theoretical and experimental landing points where the difference is within 36 mm on average. Finally, we conclude that 1 linear actuator and 1 position sensor are necessary and sufficient for the proposed system.