Zero calibration method and calibration system for table tennis serving robot
The invention provides a zero point calibration method and calibration system for a table tennis serving robot, and the method comprises the steps: configuring a group of robot expected serving parameters and an expected drop point value of a table tennis on a table tennis table according to a theor...
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Main Authors | , , , |
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Format | Patent |
Language | Chinese English |
Published |
30.09.2022
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Subjects | |
Online Access | Get full text |
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Summary: | The invention provides a zero point calibration method and calibration system for a table tennis serving robot, and the method comprises the steps: configuring a group of robot expected serving parameters and an expected drop point value of a table tennis on a table tennis table according to a theoretical flight model of the table tennis; controlling the serving robot to determine a software zero position according to the current zero offset value, and serving N balls according to the configured robot serving parameters; acquiring drop point values of N balls served by the serving robot by using a visual system; processing the actual drop point of the current track of the table tennis ball to determine whether the zero calibration of the serving robot is successful or not, and if so, determining that the calibration is successful; and otherwise, adjusting the zero offset value by using a Nelder-Mead optimization algorithm, and re-determining the software zero position until the zero calibration of the ball se |
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Bibliography: | Application Number: CN202210714716 |