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Design, Modeling, and Experimental Validation of a Vision-Based Table Tennis Juggling Robot

Author

Listed:
  • Yunfeng Ji

    (School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Bangsen Zhang

    (School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Yue Mao

    (School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Han Wang

    (School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Xiaoyi Hu

    (School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Lingling Zhang

    (Physical Education Department, Shanghai University of Finance and Economics, Shanghai 200433, China)

Abstract

This paper develops a new vision-based robot customized for table tennis juggling tasks. Specifically, the robot is equipped with two industrial cameras operating as a sensing system. An image-processing algorithm is proposed that allows the robot to balance a table tennis ball while controlling its bounce height. The robot adopts a parallel structure design, and the end effector employs three ball joints to increase the degree of freedom (DOF) of the parallel mechanism. In addition, we design a control scheme explicitly customized for this robotic system. Extensive real-time experiments are performed to show the effectiveness of the juggling robot at different jumping heights. Furthermore, the ability to consistently maintain a fixed preset bounce height is demonstrated. These experimental results confirm the efficacy of the developed robotic system.

Suggested Citation

  • Yunfeng Ji & Bangsen Zhang & Yue Mao & Han Wang & Xiaoyi Hu & Lingling Zhang, 2024. "Design, Modeling, and Experimental Validation of a Vision-Based Table Tennis Juggling Robot," Mathematics, MDPI, vol. 12(11), pages 1-11, May.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:11:p:1634-:d:1400277
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