2A1-G01 エアホッケーロボットシステムにおける攻撃動作アルゴリズム(アミューズメント・エンタテイナーロボット)

抄録

The goal of this study is to develop the technology of the robot to reach the goal of a human player for more than 80 percent. To achieve this, we use high speed manipulator, high speed image processing method, real-time and high-accuracy control system. Therefore, we need to measure a puck position accurately through the image processing, estimate the motion of the puck steady with particle filter, calculate the motion of the puck with the law of conservation of momentum. In this paper, first, the position of the puck is measured by removing noise from the image processing. Secondly, the motion of the puck is estimated by using recursive least square estimation, considering the reflection coefficient and rotation of the puck. Thirdly, the trajectory of the arm is generated so as to reach the goal. Then, we show the data of experiments and verify the effectiveness of the system.