Ball Trajectory Planning in Serving Task for Table Tennis Robot

Yoshikazu HAYAKAWA; Akira NAKASHIMA; Satoshi ITOH; Yuki NAKAI

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Ball Trajectory Planning in Serving Task for Table Tennis Robot

机译：乒乓球机器人发球任务中的球轨迹规划

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摘要

This paper considers the serving task for the table tennis robot. Based on the physical models, the ball trajectory is formulated where the ball is hit by the racket and rebounds on the table in own court and in the opponent's court. Then the paper clarifies which variables among the ball's position, translational and rotational velocities can be controlled independently by the serving racket. Some numerical simulations verify the results work approximately well.

机译：本文考虑了乒乓球机器人的服务任务。根据物理模型，制定球的轨迹，其中球被球拍击中并在本场和对手场上的桌子上反弹。然后，本文阐明了在球的位置，平移和旋转速度中哪些变量可以由发球拍独立控制。一些数值模拟证明了结果大致可行。

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来源
《SICE Journal of Control, Measurement, and System Integration (SICE JCMSI)》 |2016年第2期|共10页
作者
Yoshikazu HAYAKAWA; Akira NAKASHIMA; Satoshi ITOH; Yuki NAKAI;
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原文格式 PDF
正文语种 eng
中图分类计量学;
关键词
serving task; racket control; table tennis robot; aerodynamics; physical models;

机译：服务任务;球拍控制;乒乓球机器人;空气动力学;物理模型;

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专利

1. Ball Trajectory Planning in Serving Task for Table Tennis Robot [J] . Yoshikazu HAYAKAWA, Akira NAKASHIMA, Satoshi ITOH, SICE Journal of Control, Measurement, and System Integration (SICE JCMSI) . 2016,第2期

机译：乒乓球机器人发球任务中的球轨迹规划
2. Ball Tracking and Trajectory Prediction for Table-Tennis Robots [J] . Nature reviews Cancer . 2020,第2期

机译：表格网球机器人的球跟踪和轨迹预测
3. Visual Measurement and Prediction of Ball Trajectory for Table Tennis Robot [J] . Zhang Z., Xu D., Tan M. Instrumentation and Measurement, IEEE Transactions on . 2010,第12期

机译：乒乓球机器人球轨迹的视觉测量与预测
4. An online trajectory planning of struck ball with spin by table tennis robot [C] . Nakashima Akira, Ito Daigo, Hayakawa Yoshikazu IEEE/ASME International Conference on Advanced Intelligent Mechatronics . 2014

机译：乒乓球机器人旋转击打球的在线轨迹规划
5. Time-optimal trajectory planning for sequential robotic tasks with unfixed endpoints. [D] . Cui, Shaolin. 1995

机译：具有不固定端点的顺序机器人任务的时间最优轨迹规划。
6. Ball Tracking and Trajectory Prediction for Table-Tennis Robots [O] . Hsien-I Lin, Zhangguo Yu, Yi-Chen Huang 2020

机译：乒乓球机器人的球跟踪和轨迹预测
7. Ball Tracking and Trajectory Prediction for Table-Tennis Robots [O] . Hsien-I Lin, Zhangguo Yu, Yi-Chen Huang 2020

机译：表格网球机器人的球跟踪和轨迹预测
8. Trajectory generation for two robots cooperating to perform a task [R] . Lewis, C. L. 1995

机译：两个机器人合作执行任务的轨迹生成

Ball Trajectory Planning in Serving Task for Table Tennis Robot

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