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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Intelligent Hand-Eye Coordination Control on Ball Bouncing

Liu, An-Sheng 08 August 2011 (has links)
The capability of hand-eye coordination is one of the dexterous skills owned by human beings. In order to reproduce the skillfully operational technique and demonstrate basic hand-eye coordination technique, a robotic wrist system with stereo visual feedback strategy from the viewpoint of table tennis is presented in this thesis. Based on the concept of aerodynamics and collision mechanics, the exerted forces acting on the ball are analyzed. Three stages, including the ball flying in the air, inelastic collision between a racket and the ball, and hitting strategy of humans, will be investigated. At the same time, three-dimensional information for the scene is established using images acquired by dual cameras with a calibration process. Therefore, the flying status of the ball and its position in the space can be calculated. The robotic wrist located underneath will then be controlled to hit the ball to allow it bouncing upwards. The mechanical wrist is operated by three servo motors to simulate actual movement of human wrist. The objective is to successively hit the ball with the racket to achieve intelligent hand-eye coordination control on ball bouncing.

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