Online Trajectory Generation of a Manipulator for high-speed Batting
高速打撃動作におけるマニピュレータのオンライン軌道生成(ビジュアルサーボ)

T Senoo, A Namiki, M Ishikawa
2004 The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  
In this paper high-speed robotic batting is achieved using a high-speed arm and high-speed stereo vision. In this algorithm, in order to achive both rapidity of swing and accuracy of hitting, a hybrid trajectory generater of both visual information and the time variable function is proposed. In addition, the generated trajectory is modified by visual feedback in realtime. As a result a manipulator can follow the ball while swinging a bat at high speed even if it is difficult to predict the
more » ... to predict the trajectory of a ball. Experimental results are shown in which a high-speed manipulator hits a ball thrown by a human.
doi:10.1299/jsmermd.2004.51_3 fatcat:esm322o4znecncecsmplw6jp6y