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ICARCV
2006
IEEE

Paddle Juggling of one Ball by Robot Manipulator with Visual Servo

10 years 7 months ago
Paddle Juggling of one Ball by Robot Manipulator with Visual Servo
Abstract— This paper propose a method to achieve paddle juggling of a ball by a racket attached to a robot manipulator with two visual camera sensors. The proposed method is composed of juggling preservation problem and ball regulation problem. The juggling maintenace problem means going on hitting the ball iteratively. The ball regulation problem means regulating the position and orientation of the hit ball. The juggling preservation problem is achieved by the tracking control of the racket position for a symmetry trajectory of the ball with respect to a horizontal plane. The ball regulation problem is achieved by controlling the racket orientation, which is determined based on a discrete transition equation of the ball motion. The effectiveness of the proposed method is shown by an experimental result.
Akira Nakashima, Yoshiyasu Sugiyama, Yoshikazu Hay
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICARCV
Authors Akira Nakashima, Yoshiyasu Sugiyama, Yoshikazu Hayakawa
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