A Learning Model for Racket Motion Decision in Ping-Pong Robotic System

doi:10.1002/asjc.1009

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	A Learning Model for Racket Motion Decision in Ping-Pong Robotic System
	Su, Hu1 ; Xu, De1 ; Chen, Guodong 2; Fang, Zaojun3 ; Tan, Min3 ; Hu Su
发表期刊	ASIAN JOURNAL OF CONTROL
	2016
卷号	18 期号:1 页码:236-246
文章类型	Article
摘要	In this paper, a model of computing the desired velocity of returning balls is developed so that the robot could return the incoming ball to a desired point on the table with specified landing velocity. At first, three polynomials of the flying time are applied to fit the ball's trajectory while neglecting the effort of Magnus force; one result of returning velocity is obtained after the coefficients of the polynomials are estimated using the LM (Levenberg-Marquardt) algorithm. Then a new configuration based on area segmentation is proposed which is used in storing and replacing experimental data; another result of the velocity is received by fitting the stored data. The weighted average of the two above mentioned results is regarded as the original value of the fuzzy correcting algorithm. With the analysis of the influence of the desired velocity on the errors between the actual landing point and the desired point, the fuzzy rule is designed. The eventual returning velocity of the ball is obtained using the fuzzy correcting algorithm based on the errors of the landing point predicted by the flying model. Finally, experiments are conducted to verify the performance of the proposed method.
关键词	Returning Velocity Fuzzy Correcting Algorithm Table Tennis Flying Model Experimental Data
WOS标题词	Science & Technology ; Technology
DOI	10.1002/asjc.1009
关键词[WOS]	TABLE-TENNIS ; FUZZY CONTROLLER ; PLAYING ROBOT ; PREDICTION
收录类别	SCI
语种	英语
项目资助者	National Natural Science Foundation of China(61273337 ; 61305024)
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:000368829800019
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/11335
专题	中科院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Hu Su
作者单位	1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China 2.Tsinghua Univ, Dept Elect Engn, Beijing 100084, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
第一作者单位	精密感知与控制研究中心
推荐引用方式 GB/T 7714	Su, Hu,Xu, De,Chen, Guodong,et al. A Learning Model for Racket Motion Decision in Ping-Pong Robotic System[J]. ASIAN JOURNAL OF CONTROL,2016,18(1):236-246.
APA	Su, Hu,Xu, De,Chen, Guodong,Fang, Zaojun,Tan, Min,&Hu Su.(2016).A Learning Model for Racket Motion Decision in Ping-Pong Robotic System.ASIAN JOURNAL OF CONTROL,18(1),236-246.
MLA	Su, Hu,et al."A Learning Model for Racket Motion Decision in Ping-Pong Robotic System".ASIAN JOURNAL OF CONTROL 18.1(2016):236-246.

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