| Summary: | 碩士 === 國立中山大學 === 機械與機電工程學系研究所 === 102 === Hand-eye coordination control is one of the dexterous operational skills of mankind. This study applies an RGB-D camera to sense human stereoscopic vision, including information of depth and color. Through analyzing three-dimensional spatial information with the help of computer simulation, and integrating with a robotic arm, the hand-eye coordination control for bouncing a ball using the robotic system is realized. The achievement of this study provides the foundation for future development of intelligent robots.
This thesis aims at bouncing a table tennis ball to reproduce skillful movement of human arm and wrist. The target ball and the background are first separated by using the RGB-D camera to acquire color information. The target ball’s position in the world coordinate frame can therefore be obtained by incorporating the depth information. Then apply aerodynamics, collision mechanics and equations of motion to analyze forces on the ball and predict its future motion trajectory. An adaptive strategy calculating the bouncing angle and the corrected angle of the paddle board is developed to control the robotic arm so that the designated objective of bouncing ball can be achieved to simulate intelligent movement of human beings.
At last, experiments of bouncing a ball are conducted by employing the adaptive ball bouncing system. A number of issues, including the real-time response of the experimental system, improvement of vibration problem caused by bouncing the ball applying the presented bouncing strategy, and adaptive capability with automatic adjustment, are investigated. Experimental results show that the proposed adaptive ball bouncing system displays sufficient real-time feature to cope with rapid angle changes of the paddle board during continuous bouncing. Besides, the adaptive bouncing strategy reduces vibration and achieves the purpose of continuous bouncing.
|
|---|
