An Optimal Trajectory Planner for a Robotic Batting Task: The Table Tennis Example
نویسندگان
چکیده
This paper presents an optimal trajectory planner for a robotic batting task . The specific case of a table tennis game performed by a robot is considered. Given an estimation of the trajectory of the ball during the free flight, the method addresses the determination of the paddle configuration (pose and velocity) to return the ball at a desired position with a desired spin. The implemented algorithm takes into account the hybrid dynamic model of the ball in free flight as well as the state transition at the impact (the reset map). An optimal trajectory that minimizes the acceleration functional is generated for the paddle to reach the desired impact position, velocity and orientation. Simulations of different case studies further bolster the approach along with a comparison with state-of-the-art methods.
منابع مشابه
Trajectory Optimization of Cable Parallel Manipulators in Point-to-Point Motion
Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...
متن کاملOptimal Trajectory Generation for a Robotic Worm via Parameterization by B-Spline Curves
In this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using B-spline curves. The trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. Due to gait design considerations it is desired to minimize the required torques in a cycle of gait. Similar to caterpillars,...
متن کاملMotion Planning of a Dual Manipulator System for Table Tennis
This paper describes the design and development of a novel dual manipulator system for table tennis as an application of Human-Robot Interaction (HRI). To hit table tennis quickly, a method to obtain time-constrained trajectory joining two way-points is developed and implemented. Because the quintic polynomial trajectory is a smooth curve and can reduce jerk, it appears to be excellent choice f...
متن کاملBatting an In-Flight Object to the Target
Striking a moving object such as a flying ball to a target location is a highly skillful maneuver that a human being has to learn through a great deal of practice. In robotic manipulation, precision batting remains one of the most challenging tasks in which computer vision, modeling, planning, control, and action must be tightly coordinated in a split second. This paper investigates the problem...
متن کاملPlanning the Contact Velocity for Robotic Batting
Impulsive forces are more efficient than dynamic and static forces, and are used to achieve everyday tasks that would be difficult or impossible using the latter two types of forces. Yet, impact is rarely used in robotic manipulation due to difficulties in modeling, planning, and control. This paper studies the problem of batting a free flying object to a target location, with a focus on comput...
متن کامل