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Proceedings Paper

Development Of A Pingpong Robot System Using 7 Degrees Of Freedom Direct Drive Arm
Author(s): Hideaki Hashimoto; Fumio Ozaki; Fumio Ozaki; Kuniji Osuka
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Paper Abstract

A pingpong robot system using a 7 degrees of freedom direct drive arm has been developed. This system is composed of a binocular camera for measuring the position and the speed of a pingpong ball, a pitching machine, a direct drive robot, and a controller with a multi-microcomputer system. Three important techniques have been developed here. First involves the fast ball position measurement technique using the binocular camera, which has two linear sensors located horizontally on the focal plane of each lens. Second is a technique for forecasting hitting position and time. Third, direct drive robot control technique with real time calculation of inverse kinematics. These techniques are essential to perform unstructured tasks with a robot in real time.

Paper Details

Date Published: 19 October 1987
PDF: 8 pages
Proc. SPIE 0856, IECON '87: Industrial Applications of Robotics & Machine Vision, (19 October 1987); doi: 10.1117/12.943016
Show Author Affiliations
Hideaki Hashimoto, Toshiba Corporation (Japan)
Fumio Ozaki, Toshiba Corporation (Japan)
Fumio Ozaki, Toshiba Corporation (Japan)
Kuniji Osuka, University of Osaka Prefecture (Japan)

Published in SPIE Proceedings Vol. 0856:
IECON '87: Industrial Applications of Robotics & Machine Vision
Abe Abramovich, Editor(s)

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