Research On The Key Technology Of Table Tennis Ball-bumping Robot

Human beings have been studying enabling robots to engage in human activities,such as robot walking,robot cooking,robot soccer and so on.Juggling robot is a typical intelligent real-time system.It covers many core technologies in the field of robotics research,such as intelligent control,machine vision,and machine learning.Its research can effectively promote the development of robotics and has high scientific value.According to the characteristics of the juggling,the overall design of the robot is designed,including mechanical structure,control circuit,machine vision and control algorithm in four aspects.The structural design of the 5-degree-of-freedom robotic arm is completed,including the design of 3-DOF positioning structure and 2-DOF orientation structure.Completed the design of the control circuit,including the main control system design and power supply design.The color and depth data of the environment were acquired by the depth camera.The identification algorithm based on the color and shape features of table tennis was studied.The hand-eye calibration algorithm was studied and the transformation matrix of the camera coordinate system and the robot coordinate system was established.According to the mechanical characteristics of table tennis,the trajectory prediction model of the table tennis was established.In order to achieve stable juggling,a ball control strategy was researched,and the racket attitude and speed control model was established.In order to realize the control of the robotic arm,the forward and inverse kinematics model of the robotic arm,the motion control of the stepper motor,the linkage control and the trajectory planning based on the juggling task were studied.Three experiments were set up to test the positioning accuracy of the robot arm,the precision of table tennis trajectory prediction and the number of automatic juggling.The experimental results verify the rationality of the ping-pong ball robot structure,and the correctness of the control strategy and control model.The research in this paper has important reference value for the research of robotic arm design,moving target detection and positioning,dynamic system control.