Robotic table tennis based on physical models of aerodynamics and rebounds
Robotic table tennis based on physical models of aerodynamics and rebounds
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DOI：
10.1109/robio.2011.6181649
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
A. Nakashima;Yuki Ogawa;Chunfang Liu;Y. Hayakawa
中科院分区：
文献类型：
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作者：
A. Nakashima;Yuki Ogawa;Chunfang Liu;Y. Hayakawa
在本文中，我们开发了一个机器人乒乓球系统的基础上明确的物理模型的球运动与我们开发的实时测量方法的飞行旋转球。为了使带球拍的机器人将球击到目标点，提出了一种球拍运动的确定方法。运动确定方法通过物理模型的两个子逆问题来执行。第一个反问题是解决空气动力学的速度后，球被击中的时间。第二个反问题是利用求解的速度来求解关于球拍的方向和速度的球拍回弹模型。在这些问题中，球拍的仰角和击球的发射角是多余的参数。球拍速度相对于这些参数被最小化，以便不打破由于机器人性能的速度限制。通过实验验证了该方法的有效性。
In this paper, we develop a robotic table tennis system based on explicit physical models of the ball motion with our developed real-time measuring method of the flying rotated ball. In order for a robot with a racket to hit the ball to a target point, a determination method of the racket motion is proposed. The motion determination method is performed by two sub inverse problems of the physical models. The first inverse problem is to solve the aerodynamics with respect to the velocity just after the time when the ball is hit. With the solved velocity, the second inverse problem is to solve the racket rebound model with respect to the orientation and velocity of the racket. In these problems, the elevation angle of the racket and the launch angle of the hit ball are the redundant parameters. The racket velocity is minimized with respect to these parameters in order not to break the speed limitation due to the robot performance. The effectiveness of the method is verified by some experiments.