ROBOT-ARM-SYSTEM PLAYING 2 DIMENSIONAL PING-PONG GAME USING IMAGE PROCESSING TECHNIQUE.

A robot arm system equipped with a CCD camera and able to play a two-dimensional ping-pong game has been built. The system is able to play in the form of both robot versus robot and robot versus man. In the robot control part, 25 fuzzy production rules are used. Ambiguous instructions in terms of membership functions are generated by the robot itself using imagery data from a CCD camera. Each of these instructions consists of three fuzzy items. Two of them are input (ambiguous) information concerning the fuzzy point, that is, where the ball was hit, and the fuzzy angle, that is, from which direction the ball is coming, and the other is output information which shows how far the ball will reach. This output information, which also indicates the point the robot should move to, is calculated based on the fuzzy inference method. The whole system is controlled by only one 16-bit personal computer and works in real time.