Wall Juggling of one Ball by Robot Manipulator with Visual Servo

This paper propose a method to achieve wall juggling of a ball without rebound from a table by a racket attached to a robot manipulator with two visual camera sensors. The proposed method is composed of juggling preservation problem and ball regulation problem. The juggling preservation problem means going on hitting the ball iteratively. The ball regulation problem means regulating the hitting position of the ball. The juggling preservation problem is achieved by the tracking control of the racket position for a symmetry trajectory of the ball with respect to a horizontal plane. The ball regulation problem is achieved by controlling the racket orientation, which is determined based on a discrete transition equation of the hitting position of the ball. The effectiveness of the proposed method is shown by an experimental result.