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Table tennis ball serving robot, table tennis ball serving method and computer readable storage medium

A table tennis and robot technology, applied in the field of robotics, can solve the problems of small swing amplitude, neglect of rotation angular velocity, and less freedom of swing arm, and achieve speed and rotation speed, reduce driving requirements, and large range of motion. Effect

Active Publication Date: 2020-06-16
上海创屹科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The patent of invention with the application number 201110136109.4 discloses a method for obtaining the batting posture and batting speed of a table tennis robot racket. This method ignores the flight of the table tennis ball and the rotational angular velocity after the racket is hit during the calculation process, while the table tennis ball served with a racket needs to be more accurately controlled The rotational speed and direction after the ball is served
The application number is 200610036109.6 invention patent discloses a robot table tennis ball machine, the ball machine throws the ball upwards with the left hand, and the right hand holds the racket to push the ball. Simulate the action of human beings to spin up and down, and at the same time, there are few descriptions on the control method of rotation and speed

Method used

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  • Table tennis ball serving robot, table tennis ball serving method and computer readable storage medium
  • Table tennis ball serving robot, table tennis ball serving method and computer readable storage medium
  • Table tennis ball serving robot, table tennis ball serving method and computer readable storage medium

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Experimental program
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Effect test

Embodiment 1

[0044] The table tennis serving robot of the present embodiment includes a waist, a left hand, and a right hand, and the left hand includes a ball spit device 6, and the right hand includes a racket 5, and the right hand has multiple degrees of freedom;

[0045] The ball spit device 6 spits the ball obliquely towards the racket 5;

[0046] The table tennis serving robot controls the waist action and controls the right hand action according to the preset serving strategy, so that the table tennis ball 8 rotates at the desired rotational angular velocity after the racket hits the ball, and simultaneously makes the table tennis ball 8 move toward the desired landing point with the desired forward speed.

[0047]Optionally, the waist includes the first joint 1, and the right hand includes the second joint 2, the third joint 3, and the fourth joint 4, and the control of the waist action includes controlling the angle of the first joint 1, and the control of the right hand Actions i...

Embodiment 2

[0090] This embodiment is a method for serving a table tennis ball using the table tennis serving robot described in Embodiment 1. The method includes:

[0091] Configure the attribute parameters of the robot;

[0092] Set the expected parameters of the table tennis;

[0093] Calculate the control parameters of the robot;

[0094] The ball throwing operation is performed according to the attribute parameters of the robot, and the ball hitting operation is performed according to the control parameters of the robot, so that the table tennis ball after hitting the ball has expected parameters.

[0095] Optionally, the attribute parameters of the configuration robot include: configuring the speed and angle of the table tennis ball spit out by the ball-spitting device; The ball's desired rotational angular velocity and desired forward velocity.

[0096] Optionally, the calculation of the control parameters of the robot includes: a constraint relationship based on the transformat...

Embodiment 3

[0112] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method described in Embodiment 2 is implemented.

[0113] The present invention mainly proposes a corresponding serving control method based on a table tennis robot using a racket to serve, so as to realize more anthropomorphic and intelligent serving. The present invention firstly configures the appropriate table tennis incident velocity according to the requirements, secondly obtains the reflection velocity of the table tennis ball after being hit by the racket according to the expected landing point, expected forward velocity and expected rotational angular velocity, and secondly uses the collision model of the table tennis racket to obtain the speed and velocity of the racket Then, according to the configuration of the table tennis serving robot, the angle and speed of each joint are obtained, and finally ea...

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Abstract

The invention provides a table tennis ball serving robot, a table tennis ball serving method and a computer readable storage medium. According to the robot, a table tennis ball incidence speed and angle are configured according to requirements, an expected drop point, an expected forward speed and an expected rotation angular speed of a table tennis ball after a bat hits a ball are set, an angle and / or angle speed of all joints of the robot are obtained by using a collision model of the table tennis ball and the bat, and the robot controls each joint to drive the bat to complete serving actionfrom a current position to a hitting point. The robot is more anthropomorphic and intelligent in ball serving.

Description

technical field [0001] The invention relates to the field of robots, in particular to a table tennis serving robot, a table tennis serving method and a computer-readable storage medium. Background technique [0002] As a national game, table tennis has a mass base for the participation of all the people in our country. A large number of table tennis fans and athletes exercise and train through table tennis ball machines. The patent of invention with the application number 201110136109.4 discloses a method for obtaining the batting posture and batting speed of a table tennis robot racket. In the calculation process, this method ignores the flight of the table tennis ball and the rotational angular velocity after the racket is hit, while the table tennis ball served with a racket requires more precise control of the rotational speed and direction after the ball is served. The application number is 200610036109.6 invention patent discloses a robot table tennis ball machine, th...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/16A63B67/04
CPCA63B67/04B25J9/1602B25J9/1664B25J11/00
Inventor 杨跞张文张海波许楠刘福川
Owner 上海创屹科技有限公司
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