Robotics Automation

A Robot Ping-Pong Player: Experiments in Real-Time by Russell L. Andersson

By Russell L. Andersson

This travel de strength in experimental robotics paves the best way towards knowing dynamic environments in imaginative and prescient and robotics. It describes the 1st robotic capable of play, or even beat, human ping-pong avid gamers. developing a desktop to play ping-pong was once proposed years in the past as a very tough challenge requiring speedy, exact sensing and actuation, and the intelligence to play the sport. The learn pronounced right here all started as a chain of experiments in construction a real real-time imaginative and prescient procedure. The ping-pong desktop contains sensor and processing strategies in addition to the ideas had to intelligently plan the robot's reaction within the fraction of a moment on hand. it flourishes on a relentless flow of recent information. Subjectively comparing and bettering its movement plan because the information arrives, it presages destiny robotic platforms with many joints and sensors that needs to do an analogous, it doesn't matter what the duty. Contents: creation. robotic Ping-Pong. process layout. Real-Time imaginative and prescient approach robotic Controller. specialist Controller Preliminaries. professional Controller. robotic Ping-Pong software. end. Russell L. Andersson is Member of Technical employees, Robotics structures learn division, AT&T Bell Laboratories. A robotic Ping-Pong participant is integrated within the man made Intelligence sequence, edited through Patrick Winston and Michael Brady.

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Combining Equation 3 and 2, we can obtain: fNdt = -mviz(l+E) (4) which says that even if we don't know the shape of N, we at least know what its integral is. We will use this result next to predict the horizontal portion of the bounce. The next component we must consider results from the frictional force between table and ball. N, where p. is the coefficient of friction, and N is still the force, normal to the table surface, exerted by the deformed ball. We must know the direction of this force as well.

3 G, though the value is quite speed sensitive. Spin affects the flight of the ball according to the Magnus Effect, named after its inventor (according to Lord Rayleigh [53] in the late 1800's) . Even now, the Magnus Effect appears poorly understood, as even the sign of the force can change with speed [131. According to Watts and Ferrer [67], the Magnus force is linearly proportional to the forward velocity. An approximation is experimentally developed in [551, which states that the Magnus force is proportional to spin and the square of the 18 Chapter 2 velocity, similar to the drag.

The format string must be parsed to determine the 36 Chapter 3 argument types so that the right number of bytes may be sent to each pointer. One pass over the log is required for each module that wishes to read the log. 5 Real-Time Debugger The rtd (real-time debugger) program serves as the interface between the real-time system and the human controller. Rtd provides ways for the user to change program control inputs, initiate real-time operation, and analyze the logged data off-line. Rtd operates on programs distributed across multiple processors.

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