Table-tennis robots struggle to return a spinning ball to the opponent' s court because the direction of bound depends on the direction and magnitude of the spin. We aim to solve this problem using a swing motion that is robust over a large range of spin patterns without accurate recognition of the spin. Specifically, we examine the relation between the swing speed and direction of return. When the racket speed is 7 m/s, the difference in the return direction is only 20 % of that when the racket is not swung for the ball spinning in the range from -20 to 20 rev/s. In addition, we investigate the increase in swing speed of the racket due to flexibility of the swinging arm. We find that a flexible arm swings more rapidly than a rigid arm throughout the range of motion when exploiting the joint angle limit.
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机译：乒乓球机器人努力将旋转的球退回对手的球场，因为绑定的方向取决于旋转的方向和幅度。我们的目标是使用一种摆幅运动来解决此问题，该摆幅在较大范围的旋转模式中都很稳健，而无法准确识别旋转。具体来说，我们研究了回转速度与返回方向之间的关系。当球拍速度为7 m / s时，返回方向的差异仅为在-20至20 rev / s范围内不旋转球拍时球拍回程方向的差异的20％。此外，我们研究了由于摆臂的灵活性而导致的球拍摆动速度的增加。我们发现，在利用关节角度限制时，在整个运动范围内，柔性臂的摆动比刚性臂的摆动更快。
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