A Learning Model for Racket Motion Decision in Ping-Pong Robotic System
Su, Hu1; Xu, De1; Chen, Guodong2; Fang, Zaojun3; Tan, Min3; Hu Su
2016
发表期刊ASIAN JOURNAL OF CONTROL
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
DOI10.1002/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
专题精密感知与控制研究中心_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
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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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