著者

ハン ビンイク 水内 郁夫

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2013, pp."2P1-Q11(1)"-"2P1-Q11(4)", 2013-05-22

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For a robot to hit a flying ping-pong ball which is rotating fast is difficult. A way is to use an ultra high-speed camera with tens of thousand fps. In this paper, we have derived the equation of motion of a rotating ball considering forces to the ball from the air, and predict the trajectory in the three-dimensional space based on the equation of motion.We have recorded several cases of a flying and rotating ping-pong ball in 240fps, tried to predict the trajectory of each case based on the observed rotation speed and flying speed of the ball, and compared the predicted drop point with the actual drop point to evaluate the presented prediction method. This paper also discusses the possibility of using a normal camera for trajectory prediction, based on the prediction of rotating speed from initial several frames using the equation of motion.

著者

ハン ビンイク 水内 郁夫

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2014, pp._1A1-O03_1-_1A1-O03_4, 2014

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This paper focuses on making a table tennis robot cheaper and smaller. Unlike previous studies that used high-speed cameras to predict ball's trajectory, we propose using a depth camera (cheaper than a high-speed camera) to measure ball's velocity and position, and predicting ball's trajectory by using rotating ball's equations of motion that is based on aerodynamics. By using the equations of motion, we can also calculate ball's rotational states through ball's velocity and acceleration. We developed a tabletop type omni-directional mobile robot equipped with an arm and a depth camera, with consideration of cost and size.

著者

ハン ビンイク 水内 郁夫

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2012, pp._1P1-P08_1-_1P1-P08_4, 2012

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For a robot to hit a flying ping-pong ball which is rotating fast is difficult. A way is to use a ultra-high-speed camera with tens of thousand fps. In this paper, we have derived the equation of motion of a rotating ball considering forces to the ball from the air, and predict the trajectory based on the equation of motion. We have recorded several cases of a flying and rotating ping-pong ball in 500fps and 200fps, tried to predict the trajectory of each case based on the observed rotation speed and flying speed of the ball, and compared the predicted trajectories with actual trajectories to evaluate the presented prediction method. This paper also discusses the possibility of using a normal camera for trajectory prediction, based on the prediction of rotating speed from initial several frames using the equation of motion.