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

Yunfeng Ji, Bangsen Zhang, Yue Mao, Han Wang, Xiaoyi Hu and Lingling Zhang ()
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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

Mathematics, 2024, vol. 12, issue 11, 1-11

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.

Keywords: juggling robot; robot design; parallel structure; inverse kinematics (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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