Ball Trajectory Planning in Serving Task for Table Tennis Robot
Ball Trajectory Planning in Serving Task for Table Tennis Robot
复制标题
DOI：
10.9746/jcmsi.9.50
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Y. Hayakawa;A. Nakashima;Satoshi Itoh;Yuki Nakai
中科院分区：
文献类型：
--
作者：
Y. Hayakawa;A. Nakashima;Satoshi Itoh;Yuki Nakai
研究了乒乓球机器人的发球任务。基于物理模型，球的轨迹是制定的球被球拍击中，并在自己的法院和对手的法院在桌面上反弹。阐明了发球球拍可以独立控制球的位置、平移和旋转速度中的哪些变量。一些数值模拟验证了结果的工作近似。
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.