Aggressive trajectory generator for a robotic ping-pong player

摘要

A trajectory generation and tracking system is described which is designed to maximize the manipulator's usable performance on a sensor-driven task. The system drives a PUMA 260 that is part of a functioning robot ping-pong player. The system's implementation and performance in practice are reported.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>