A Learning Model for Racket Motion Decision in Ping-Pong Robotic System
文献类型：期刊论文
| 作者 | Su, Hu1 ; Xu, De1; Chen, Guodong2; Fang, Zaojun3; Tan, Min3; Hu Su
|
| 刊名 | ASIAN JOURNAL OF CONTROL
 |
| 出版日期 | 2016 |
| 卷号 | 18期号:1页码:236-246 |
| 关键词 | Returning Velocity Fuzzy Correcting Algorithm Table Tennis Flying Model Experimental Data |
| DOI | 10.1002/asjc.1009 |
| 文献子类 | Article |
| 英文摘要 | In this paper, a model of computing the desired velocity of returning balls is developed so that the robot could return the incoming ball to a desired point on the table with specified landing velocity. At first, three polynomials of the flying time are applied to fit the ball's trajectory while neglecting the effort of Magnus force; one result of returning velocity is obtained after the coefficients of the polynomials are estimated using the LM (Levenberg-Marquardt) algorithm. Then a new configuration based on area segmentation is proposed which is used in storing and replacing experimental data; another result of the velocity is received by fitting the stored data. The weighted average of the two above mentioned results is regarded as the original value of the fuzzy correcting algorithm. With the analysis of the influence of the desired velocity on the errors between the actual landing point and the desired point, the fuzzy rule is designed. The eventual returning velocity of the ball is obtained using the fuzzy correcting algorithm based on the errors of the landing point predicted by the flying model. Finally, experiments are conducted to verify the performance of the proposed method. |
| WOS关键词 | TABLE-TENNIS ; FUZZY CONTROLLER ; PLAYING ROBOT ; PREDICTION |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:000368829800019 |
| 资助机构 | National Natural Science Foundation of China(61273337 ; 61305024) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/11335]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Hu Su |
| 作者单位 | 1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China 2.Tsinghua Univ, Dept Elect Engn, Beijing 100084, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Su, Hu,Xu, De,Chen, Guodong,et al. A Learning Model for Racket Motion Decision in Ping-Pong Robotic System[J]. ASIAN JOURNAL OF CONTROL,2016,18(1):236-246. |
| APA | Su, Hu,Xu, De,Chen, Guodong,Fang, Zaojun,Tan, Min,&Hu Su.(2016).A Learning Model for Racket Motion Decision in Ping-Pong Robotic System.ASIAN JOURNAL OF CONTROL,18(1),236-246. |
| MLA | Su, Hu,et al."A Learning Model for Racket Motion Decision in Ping-Pong Robotic System".ASIAN JOURNAL OF CONTROL 18.1(2016):236-246. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。