nach oben

Erschienen in:

2019 | OriginalPaper | Buchkapitel

A Table Tennis Robot System Using an Industrial KUKA Robot Arm

verfasst von : Jonas Tebbe, Yapeng Gao, Marc Sastre-Rienietz, Andreas Zell

Erschienen in: Pattern Recognition

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

In recent years robotic table tennis has become a popular research challenge for image processing and robot control. Here we present a novel table tennis robot system with high accuracy vision detection and fast robot reaction. Our system is based on an industrial KUKA Agilus R900 sixx robot with 6 DOF. Four cameras are used for ball position detection at 150 fps. We employ a multiple-camera calibration method, and use iterative triangulation to reconstruct the 3D ball position with an accuracy of 2.0 mm. In order to detect the flying ball with higher velocities in real-time, we combine color and background thresholding. For predicting the ball’s trajectory we test both a curve fitting approach and an extended Kalman filter. Our robot is able to play rallies with a human counting up to 50 consequential strokes and has a general hitting rate of 87%.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Vorheriges Kapitel Associative Deep Clustering: Training a Classification Network with No Labels

Nächstes Kapitel View-Aware Person Re-identification

Acosta, L., Rodrigo, J.J., Mendez, J.A., Marichal, G.N., Sigut, M.: Ping-pong player prototype. IEEE Robot. Autom. Mag. 10(4), 44–52 (2003). https://doi.org/10.1109/MRA.2003.1256297CrossRef

Agarwal, S., Mierle, K., et al.: Ceres solver. http://ceres-solver.org

Anderson, R.L.: A Robot Ping-Pong Player: Experiment in Real-time Intelligent Control. MIT Press, Cambridge (1988)

Arun, K.S., Huang, T.S., Blostein, S.D.: Least-squares fitting of two 3-D point sets. IEEE Trans. Pattern Anal. Mach. Intell. PAMI 9(5), 698–700 (1987). https://doi.org/10.1109/TPAMI.1987.4767965CrossRef

Billingsley, J.: Robot ping pong, May 1983

Bradski, G.: The OpenCV Library. Dr. Dobb’s J. Softw. Tools (2000)

Fässler, H., Beyer, H.A., Wen, J.T.: Robot ping pong player: optimized mechanics, high performance 3D vision, and intelligent sensor control. Robotersysteme 6, 161–170 (1990)

Group, K.R.: The duel: timo boll vs. kuka robot, March 2014. https://www.youtube.com/watch?v=tIIJME8-au8

Hartley, R.I., Zisserman, A.: Multiple View Geometry in Computer Vision, 2nd edn. Cambridge University Press, Cambridge (2004). ISBN 0521540518CrossRef

10.

Hartley, R.I., Sturm, P.: Triangulation. Comput. Vis. Image Underst. 68(2), 146–157 (1997). https://doi.org/10.1006/cviu.1997.0547CrossRef

11.

Hoffmann, U.: Mann gegen maschine - ulf hoffmann tischtennis roboter (uhttr-1), March 2014. https://www.youtube.com/watch?v=imVNg9j7rvU

12.

Kawakami, S., Ikumo, M., Oya, T.: Omron table tennis robot forpheus. https://www.omron.com/innovation/forpheus.html

13.

Lampert, C.H., Peters, J.: Real-time detection of colored objects in multiple camera streams with off-the-shelf hardware components. J. Real-Time Image Process. 7(1), 31–41 (2012). https://doi.org/10.1007/s11554-010-0168-3CrossRef

14.

Li, H., Wu, H., Lou, L., Kühnlenz, K., Ravn, O.: Ping-pong robotics with high-speed vision system. In: 2012 12th International Conference on Control Automation Robotics Vision (ICARCV), pp. 106–111 (2012). https://doi.org/10.1109/ICARCV.2012.6485142

15.

Lourakis, M., Argyros, A.: SBA: a generic sparse bundle adjustment C/C++ package based on the Levenberg-Marquardt algorithm, January 2008

16.

Miyazaki, F., Matsushima, M., Takeuchi, M.: Learning to dynamically manipulate: a table tennis robot controls a ball and rallies with a human being. In: Kawamura, S., Svinin, M. (eds.) Advances in Robot Control, pp. 317–341. Springer, Heidelberg (2006). https://doi.org/10.1007/978-3-540-37347-6_15CrossRefMATH

17.

Müling, K., Kober, J., Peters, J.: A biomimetic approach to robot table tennis. Adapt. Behav. 19(5), 359–376 (2011). https://doi.org/10.1177/1059712311419378CrossRef

18.

Mülling, K., Kober, J., Peters, J.: Simulating human table tennis with a biomimetic robot setup. In: Doncieux, S., Girard, B., Guillot, A., Hallam, J., Meyer, J.-A., Mouret, J.-B. (eds.) SAB 2010. LNCS (LNAI), vol. 6226, pp. 273–282. Springer, Heidelberg (2010). https://doi.org/10.1007/978-3-642-15193-4_26CrossRef

19.

Mülling, K., Kober, J., Kroemer, O., Peters, J.: Learning to select and generalize striking movements in robot table tennis. Int. J. Robot. Res. 32(3), 263–279 (2013). https://doi.org/10.1177/0278364912472380CrossRef

20.

Nakashima, A., Ito, D., Hayakawa, Y.: An online trajectory planning of struck ball with spin by table tennis robot. In: 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 865–870, July 2014. https://doi.org/10.1109/AIM.2014.6878188

21.

Nakashima, A., Ogawa, Y., Kobayashi, Y., Hayakawa, Y.: Modeling of rebound phenomenon of a rigid ball with friction and elastic effects. In: Proceedings of the 2010 American Control Conference, pp. 1410–1415, June 2010. https://doi.org/10.1109/ACC.2010.5530520

22.

Nakashima, A., Nonomura, J., Liu, C., Hayakawa, Y.: Hitting back-spin balls by robotic table tennis system based on physical models of ball motion. IFAC Proc. Vol. 45(22), 834–841 (2012). https://doi.org/10.3182/20120905-3-HR-2030.00107. 10th IFAC Symposium on Robot Control. http://www.sciencedirect.com/science/article/pii/S1474667016337132CrossRef

23.

Quigley, M., et al.: ROS: an open-source robot operating system. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Open Source Robotics, Kobe, Japan, May 2009

24.

SIASUN: Siasun table tennis robot pongbot. https://youtu.be/Ov8jwAKucmk

25.

Silva, R., Melo, F.S., Veloso, M.: Towards table tennis with a quadrotor autonomous learning robot and onboard vision. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 649–655, September 2015. https://doi.org/10.1109/IROS.2015.7353441

26.

Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle adjustment—a modern synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds.) IWVA 1999. LNCS, vol. 1883, pp. 298–372. Springer, Heidelberg (2000). https://doi.org/10.1007/3-540-44480-7_21CrossRef

27.

Wang, Q., Zhang, K., Wang, D.: The trajectory prediction and analysis of spinning ball for a table tennis robot application. In: The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent, pp. 496–501, June 2014. https://doi.org/10.1109/CYBER.2014.6917514

28.

Xiong, R., Sun, Y., Zhu, Q., Wu, J., Chu, J.: Impedance control and its effects on a humanoid robot playing table tennis. Int. J. Adv. Robot. Syst. 9(5), 178 (2012). https://doi.org/10.5772/51924CrossRef

29.

Zhang, H., Wu, Y., Yang, F.: Ball detection based on color information and hough transform. In: 2009 International Conference on Artificial Intelligence and Computational Intelligence, vol. 2, pp. 393–397 (2009). https://doi.org/10.1109/AICI.2009.21

30.

Zhang, Y., Xiong, R., Zhao, Y., Wang, J.: Real-time spin estimation of ping-pong ball using its natural brand. IEEE Trans. Instrum. Measure. 64(8), 2280–2290 (2015). https://doi.org/10.1109/TIM.2014.2385173CrossRef

31.

Zhang, Y., Zhao, Y., Xiong, R., Wang, Y., Wang, J., Chu, J.: Spin observation and trajectory prediction of a ping-pong ball. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 4108–4114, May 2014. https://doi.org/10.1109/ICRA.2014.6907456

32.

Zhang, Y., Xiong, R., Zhao, Y., Chu, J.: An adaptive trajectory prediction method for ping-pong robots. In: Su, C.-Y., Rakheja, S., Liu, H. (eds.) ICIRA 2012. LNCS (LNAI), vol. 7508, pp. 448–459. Springer, Heidelberg (2012). https://doi.org/10.1007/978-3-642-33503-7_44CrossRef

33.

Zhang, Z.: A flexible new technique for camera calibration. IEEE Trans. Pattern Anal. Mach. Intell. 22(11), 1330–1334 (2000). https://doi.org/10.1109/34.888718CrossRef

34.

Zhang, Z., Xu, D., Tan, M.: Visual measurement and prediction of ball trajectory for table tennis robot. IEEE Trans. Instrum. Measure. 59(12), 3195–3205 (2010). https://doi.org/10.1109/TIM.2010.2047128CrossRef

Titel: A Table Tennis Robot System Using an Industrial KUKA Robot Arm
verfasst von: Jonas Tebbe
Yapeng Gao
Marc Sastre-Rienietz
Andreas Zell
Verlag: Springer International Publishing
Buch: Pattern Recognition
Print ISBN: 978-3-030-12938-5

Electronic ISBN: 978-3-030-12939-2

Copyright-Jahr: 2019
DOI: https://doi.org/10.1007/978-3-030-12939-2_3

Springer Professional

Abstract

Bitte loggen Sie sich ein, um Zugang zu Ihrer Lizenz zu erhalten.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Springer Professional "Wirtschaft"

Premium Partner