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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Ball Positioning in Robotic Billiards: A Nonprehensile Manipulation-Based Solution
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Ball Positioning in Robotic Billiards: A Nonprehensile Manipulation-Based Solution

机译：机器人台球中的球定位：基于非精确操纵的解决方案

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摘要

The last two decades have seen a number of developments in creating robots to play billiards. The designed robotic systems have successfully incorporated the kinematics required and have had appropriate machine vision elements for a decent gameplay. Independently, computer scientists have also developed the artificial intelligence programs needed for the strategy to play billiards. Despite these developments, the accurate ball manipulation aspect of the game, needed for good performance, has not been addressed enough; two important parameters are the potting accuracy and advantageous cue ball positioning for next shot. In this regard, robotic ball manipulation by predicting the ball trajectories under the action of various dynamic phenomena, such as ball spin, impacts and friction, is the key consideration of this research. By establishing a connection to the methods used in nonprehensile robotic manipulation, a forward model is developed for the rolling, sliding, and two distinct types of frictional impacts of billiards balls are developed. High-speed camera-based tracking is performed to determine the physical parameters required for the developed dynamic models. To solve the inverse manipulation problem, i.e., the decision on shot parameters, for accurate ball positioning, an optimization based solution is proposed. A simplistic ball manipulator is designed and used to test the theoretical developments. Experimental results show that a 90% potting accuracy and a 100–200 mm post-shot cue ball positioning accuracy has been achieved by the autonomous system within a table area of ft.
机译：在过去的二十年中，在创造玩台球的机器人方面取得了许多进展。设计的机器人系统已成功整合了所需的运动学，并具有适当的机器视觉元素，可实现出色的游戏体验。独立地，计算机科学家还开发了打台球策略所需的人工智能程序。尽管取得了这些进展，但是对于良好表现所必需的精确的球操纵方面却没有得到足够的解决。两个重要参数是灌封准确性和下一个击球时的有利母球定位。在这方面，通过预测在各种动态现象（例如，球旋转，撞击和摩擦）作用下的球轨迹来进行机器人球操纵是这项研究的重点。通过建立与非精确机器人操纵方法的联系，开发了用于滚动，滑动的正向模型，并开发了两种不同类型的撞球摩擦力。执行基于照相机的高速跟踪，以确定开发的动态模型所需的物理参数。为了解决反操纵问题，即确定击球参数，以实现精确的球定位，提出了一种基于优化的解决方案。设计了一种简单的球操纵器并用于测试理论发展。实验结果表明，自主系统在ft表区域内实现了90％的灌封精度和100-200 mm的出手后球定位精度。

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