Paddle Juggling by Robot Manipulator with Visual Servo

摘要

We realized the paddle juggling by a robot manipulator in this research. The key points are the following: 1. The method can hit the ball iteratively without the prediction of the fall point of the ball. 2. The method regulate the hitting position based on the ball state with the only prediction of the velocity in the z direction. An example of another approach to the paddle juggling is to determine the racket position, angle and velocity based on the predicted ball trajectory in real time. This approach may be available while this needs more information about the ball than our proposed method. On the other hand, our method always tracks the ball in (x,y) plane and predicts only the z velocity. This contributes on the simplicity and the robustness. Furthermore, our method realizes the hitting with only synchronizing the ball in z direction. This contributes on no determination of the racket velocity for hitting the ball. To sum up, the simplicity and synchronous are significant to realize the paddle juggling. We hope that this may indicate that human do juggling based on the same strategy.