Paddling a Ball with Visual Servo by a Robot Manipulator

Abstract

This paper considers paddling a ball by a robot manipulator atached a racket with two visual camera sensors.A poropsed method is composed of the section to iterate hitting the ball,and the section to control the position and orientation of the hitting ball.The first section is achieved by the tracking of the racket position for the ball based on a criterion.The second section is achived by controlling the position and orientation of the ball at the hitting points with the racket orientation.The effectiveness of the proposed method is shown by a experimental result.