Design and motion control of a ping pong robot

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.

[1]  R. L. Andersson.  Aggressive trajectory generator for a robot ping-pong player , 1989 .

[2]  Fumio Miyazaki,et al.  A learning approach to robotic table tennis , 2005, IEEE Transactions on Robotics.

[3]  Eli Saber,et al.  An application of human robot interaction: development of a ping-pong playing robotic arm , 2005, 2005 IEEE International Conference on Systems, Man and Cybernetics.

[4]  R. L. Andersson.  A low-latency 60 Hz stereo vision system for real-time visual control , 1990, Proceedings. 5th IEEE International Symposium on Intelligent Control 1990.

[5]  Fumio Miyazaki,et al.  Learning to the robot table tennis task-ball control & rally with a human , 2003, SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483).

[6]  Russell L. Anderson,et al.  A Robot Ping-Pong Player: Experiments in Real-Time Intelligent Control , 1988 .

[7]  Russell L. Andersson,et al.  Understanding and applying a robot ping-pong player's expert controller , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[8]  Hideaki Hashimoto,et al.  Development Of A Pingpong Robot System Using 7 Degrees Of Freedom Direct Drive Arm , 1987, Other Conferences.

[9]  Juan A. Méndez,et al.  Ping-pong player prototype , 2003, IEEE Robotics Autom. Mag..