@inproceedings{7aee781d4f4b4803bce335409ea7e72c,
title = "System design of a 9-DOF robot capable of fast and flexible rally task",
abstract = "Dynamic interactions between a robot and environments have been an active field for years. A table tennis robot can serve as a comprehensive platform for these researches. Investigating previous work, neither articulated robot nor Cartesian one can solely provide satisfying solutions on this topic. This paper proposes a 9-DOF table tennis robot consisting of a flexible arm, a fast-moving body and highspeed cameras. The high-speed vision system identifies and predicts the target trajectory. The 7-DOF articulated arm can accomplish complicated and flexible operations while the 2-DOF fast-moving body in Cartesian space helps the arm to form an enough workspace. To perform rally task, a distributed and hierarchical control system based on RT-Linux which can be divided into ball trajectory identification, ball trajectory prediction, paddle trajectory planning and a real-time distributed motion controller for joints control is constructed. Experiments demonstrate the validity of the system design.",
keywords = "rally task, real-time system, table tennis robot",
author = "Wen Zhang and Jing Li and Qiang Huang and Zhangguo Yu and Xuechao Chen and Gan Ma and Libo Meng and Yan Liu and Si Zhang and Fei Meng and Weimin Zhang and Junyao Gao",
year = "2014",
doi = "10.1109/ICMA.2014.6885909",
language = "English",
isbn = "9781479939787",
series = "2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014",
publisher = "IEEE Computer Society",
pages = "1428--1433",
booktitle = "2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014",
address = "United States",
note = "11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014 ; Conference date: 03-08-2014 Through 06-08-2014",
}