Abstract:

The robot should accurately predict the future track of the ball when it plays table tennis games. Firstly, the paper investigated the kinematic model and the collision model of the balls, which are used in predicting the ball track. Secondly, the paper improved the kinematic model ［1］ by using dynamic rather than fixed static velocity feedback adjustment parameters. Meanwhile, the ball’s speed before being rebound on the table is calculated by the leastsquare method. The experiments show that this method can improve the accuracy of the track prediction. Finally, a 3D simulation vision system is designed to analyze the track prediction.

Key words: pingpong robot;kinematic model;minimum square law;trajectory prediction