A Table Tennis Robot System Using an Industrial KUKA Robot Arm
| Autor: | Marc Sastre-Rienietz, Yapeng Gao, Andreas Zell, Jonas Tebbe |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry 020208 electrical & electronic engineering ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Image processing 02 engineering and technology Thresholding Robot control Extended Kalman filter 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Ball (bearing) Curve fitting Robot Computer vision Artificial intelligence business Robotic arm |
| Zdroj: | Lecture Notes in Computer Science ISBN: 9783030129385 GCPR |
| DOI: | 10.1007/978-3-030-12939-2_3 |
| Popis: | In recent years robotic table tennis has become a popular research challenge for image processing and robot control. Here we present a novel table tennis robot system with high accuracy vision detection and fast robot reaction. Our system is based on an industrial KUKA Agilus R900 sixx robot with 6 DOF. Four cameras are used for ball position detection at 150 fps. We employ a multiple-camera calibration method, and use iterative triangulation to reconstruct the 3D ball position with an accuracy of 2.0 mm. In order to detect the flying ball with higher velocities in real-time, we combine color and background thresholding. For predicting the ball’s trajectory we test both a curve fitting approach and an extended Kalman filter. Our robot is able to play rallies with a human counting up to 50 consequential strokes and has a general hitting rate of 87%. |
| Databáze: | OpenAIRE |
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