High-speed batting using a multi-jointed manipulator
High-speed batting using a multi-jointed manipulator
复制标题
使用多关节机械手进行高速击球
DOI：
10.1109/robot.2004.1307986
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
M. Ishikawa
中科院分区：
文献类型：
--
作者：
T. Senoo;A. Namiki;M. Ishikawa
本文提出了一种基于高速手臂和高速立体视觉的机器人击球算法。利用这种策略，可以生成所需的机械手轨迹，从而使高速挥杆运动和跟踪运动相结合，以使球与球棒垂直相接。因此，即使很难预测球的轨迹，机械手也可以在高速挥动球棒的同时跟随球。给出了高速机械手撞击人抛出的球的实验结果。
In this paper a robotic batting algorithm using a high-speed arm and high-speed stereo vision is proposed. With this strategy, the desired trajectory of the manipulator is generated so that both high-speed swing motion and tracking motion combine to meet the ball squarely with the bat. As a result the manipulator can follow the ball while swinging the bat at high speed even if it is difficult to predict the trajectory of a ball. Experimental results are shown in which a high-speed manipulator hits a ball thrown by a human.