Table tennis robot motion modeling and striking planning

In order to solve the problem that the table tennis robot hit the ball is not very well for the fast and with larger spinning ball. According to the Newton's law of motion, analyze the force of table tennis in the air. Then establish the flight model and the Collision model, and do simulation experiments to verify its rationality. Then analyze and predict the trajectory of table tennis. Follow the principle of peace ball, planning the return trajectory of table tennis. Finally, calculate the hitting speed and posture of the racket by combining the position of the ball striking point and the initial velocity with the table tennis collision model. And using MATLAB to simulate the experiment to verify the table tennis can get to the desired hit point at planning speed and posture.