Aggressive trajectory generator for a robotic ping-pong player

Abstract

Robot trajectory planning algorithms often ignore the dynamics of the robot and actuator to concentrate on other aspects, such as Cartesian linearity or collision avoidance. This paper describes a trajectory generation and tracking system designed to maximize the manipulator's usable performance on a sensor-driven task.The system drives a PUMA 260 that is part of a functioning robot ping-pong player. We will describe the system's implementation and performance in practice. I88