2024-03-29T06:26:50Z
https://nagoya.repo.nii.ac.jp/oai
oai:nagoya.repo.nii.ac.jp:00018674
2023-01-16T04:53:33Z
320:502:503
Hitting Back-Spin Balls by Robotic Table Tennis System based on Physical Models of Ball Motion
Nakashima, Akira
Nonomura, Junko
Liu, Chunfang
Hayakawa, Yoshikazu
open access
robotics
physical models
model reference
manipulators
inverse kinematic problem
motion planning
In this paper, we develop a robotic table tennis system in the case of the back spin with the same measurement method and the ball models of the aerodynamics and the rebounds as in the study of Nakashima et al. (2011). First, the aerodynamics model is improved for precise prediction of the ball trajectory with data of the flying back-spin ball. Second, a method to determine the racket motion is shown where approximated inverse problems of the models are solved with optimizations. Third, a motion planning of the robot to achieve the racket motion is proposed with the velocity limitation of the robot joints. Experimental results are shown to verify the effectiveness of the proposed method.
10th IFAC Symposium on Robot Control International Federation of Automatic Control September 5-7, 2012. Dubrovnik, Croatia
International Federation of Automatic Control (IFAC)
2012-09
eng
conference paper
VoR
http://hdl.handle.net/2237/20770
https://nagoya.repo.nii.ac.jp/records/18674
https://doi.org/10.3182/20120905-3-HR-2030.00107
978-3-902823-11-3
1474-6670
10th IFAC Symposium on Robot Control
834
841
https://nagoya.repo.nii.ac.jp/record/18674/files/0107.pdf
application/pdf
1.2 MB
2018-02-21