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Aggressive trajectory generator for a robot ping-pong player

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1 Author(s)
Andersson, R.L. ; AT&T Bell Lab., Holmdel, NJ, USA

A trajectory generation and tracking system designed to operate in a very dynamic environment is described. The system drives a PUMA 260 which is part of a functioning robot ping-pong player. The goal is to achieve predictable, reliable, high-performance motions at the envelope of robot capabilities. The task is sensor-driven, each motion is unique, and motions have to be changed while they are in progress. The author describes some of the requirements in detail, compares alternative high-performance trajectory types, describes the properties of the quintic polynomials used, discusses how to determine if a trajectory is feasible, and then outlines the implementation and its performance.<>

Published in:

Control Systems Magazine, IEEE  (Volume:9 ,  Issue: 2 )