Construction of a 2D model of a robot playing table tennis

Authors: Alyousef Almasalmah Fadi
Published in issue: #3(44)/2020
DOI: 10.18698/2541-8009-2020-3-589
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: robot playing table tennis, manipulator, air resistance, Magnus force, recovery coefficient, direct kinematic problem, inverse kinematic problem, Jacobi matrix, trajectory planning, OpenGL
Published: 06.04.2020

The paper is devoted to kinematic model of a robot playing table tennis in plane. The conditions and limitations of the collision of the ball with the table and environmental conditions are determined. The equations of ball motion are presented, as well as the equations of its collision with a racket and with a table. Calculations are given of the racket speed at the moment of impact, necessary for the ball to fly along the chosen path. The inverse and direct kinematic problems are solved for the selected robot. Using the known speed and position of the ball at the moment of impact, the dependences of the robot links movement on time are calculated. A 2D model in which two manipulators play table tennis with each other is implemented in the C# language using the OpenGL library.

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