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Advances in Robotics: Modeling, Control and Applications
Title
Advances in Robotics: Modeling, Control and Applications
Editor
Calin Ciufudean and Lino García
Price
USD$139.00
ISBN
978-1-461108-443
Clicks
33278

Chapter 3

Advances in Robotics: Modeling, Control and Applications

Ping-Pong Ball Jugglings by Robot Manipulator based on Discrete Control System

by Akira Nakashima and Yoshikazu Hayakawa

Viewed: 2196

Abstract

Dynamic manipulation means tasks by utilizing dynamics of manipulated targets and therefore represents dexterity of humans. Ball jugglings are kinds of the dynamic manipulation because the ball manipulation tasks are intermittent interactions, which have to be performed by considering the ball dynamics. Examples of the ball jugglings are toss juggling, paddle juggling, bouncing juggling, wall juggling and so on. It is also essential to consider the ball motion by the interactions with environments as a discrete event. The ball jugglings can then be treated as the dynamical systems which include both the continuous and discrete variables. In this paper, we consider two kinds of the ping-pong ball juggling with a table tennis racket by a robot manipulator. The first one is the paddle juggling which means hitting the ball iteratively in the vertical direction against the gravity. The second one is the wall juggling which means hitting the ball iteratively against a wall without bouncing the ground. The robot is a manipulator with 6 degrees of freedom with the racket to be attached to its tip and the position of the ball is measured by two vision cameras. The main issues of the juggling are the motion plannings of the racket of 1) how to hit iteratively the ball; and 2) how to stabilize the ball motion to the desired juggled motion. The issue 1) can be achieved by forcing the racket to chase the ball in the horizontal plane and to imitate the ball motion in the inverse vertical direction with respect to the horizontal plane. This motion is like the mirror image of the ball with respect to a horizontal mirror. For the issue 2), we model the ball motions including the interactions with the racket and the wall. The motions are discrete control systems with the control gains of the orientations and the vertical velocity of the racket. The control gains to stabilize the jugglings are derived by the linear discrete control theory. The experimental results are shown for show the effectiveness of the proposed methods. The paddle juggling is done more 100 number of the hitting and has the robustness against the disturbance to the ball. The wall juggling is achieved at most 19 times. The conclusion is finally denoted.

Author Details

Akira Nakashima
Nagoya University, Japan
Yoshikazu Hayakawa
Nagoya University, Japan

Citation

Akira Nakashima and Yoshikazu Hayakawa. Ping-Pong Ball Jugglings by Robot Manipulator based on Discrete Control System. In Advances in Robotics: Modeling, Control and Applications. ISBN:978-1-461108-443. iConcept Press. 0000.

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