Intelligent Hand-Eye Coordination Control on Ball Bouncing

• Main Authors: An-Sheng Liu, 劉安陞
• Other Authors: Cheng, Chi-Cheng
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/06102179822505889160

碩士 === 國立中山大學 === 機械與機電工程學系研究所 === 99 === The capability of hand-eye coordination is one of the dexterous skills owned by human beings. In order to reproduce the skillfully operational technique and demonstrate basic hand-eye coordination technique, a robotic wrist system with stereo visual feedback strategy from the viewpoint of table tennis is presented in this thesis. Based on the concept of aerodynamics and collision mechanics, the exerted forces acting on the ball are analyzed. Three stages, including the ball flying in the air, inelastic collision between a racket and the ball, and hitting strategy of humans, will be investigated. At the same time, three-dimensional information for the scene is established using images acquired by dual cameras with a calibration process. Therefore, the flying status of the ball and its position in the space can be calculated. The robotic wrist located underneath will then be controlled to hit the ball to allow it bouncing upwards. The mechanical wrist is operated by three servo motors to simulate actual movement of human wrist. The objective is to successively hit the ball with the racket to achieve intelligent hand-eye coordination control on ball bouncing.