elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Impressum | Kontakt | English
Schriftgröße: [-] Text [+]

Playing billard with an anthropomorphic robot arm

Parusel, Sven (2009) Playing billard with an anthropomorphic robot arm. Diplomarbeit. DLR-Interner Bericht. DLR-IB 515-2009/17, 78 S.

[img] PDF - Nur angemeldete Benutzer - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
10MB

Kurzfassung

The intention of this work is to investigate the possibility of playing billiard with the DLR Light Weight Robot III (DLR-LWR III). Playing billiard with such a robot is due to the necessity to combine strategic planning capabilities, precise vision, and accurate robot control a challenging task to be performed. In contrast to existing approaches, where an active cue acceleration device is used to achieve the velocity for striking a ball, we directly generate this with the robot. For this purpose an experimental billiard table was set up. Furthermore, a set of randomly placed billiard balls are localized and identified with a computer vision system. In order to properly plan shots according to the particular situation, an artificial intelligence was developed, which is capable of analyzing a given table state and choose an appropriate shot. In order to accomplish this task, a custom made cue end effector was constructed. To show the systems abilities, experiments are performed, verifying the accuracy and success rate of the vision system and simulation results for performing the entire loop are presented.

Dokumentart:Berichtsreihe (DLR-Interner Bericht, Diplomarbeit)
Titel:Playing billard with an anthropomorphic robot arm
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Parusel, SvenNICHT SPEZIFIZIERT
Datum:17 Juli 2009
Seitenanzahl:78
Status:veröffentlicht
Stichwörter:Playing, Robot, Arm, Billard, Billiard, anthropomorphic
Institution:Hochschule Kempten
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Jessica Laskey
Hinterlegt am:15 Dez 2009 16:31
Letzte Änderung:12 Dez 2013 20:48

Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags

Blättern
Suchen
Hilfe & Kontakt
Informationen
electronic library verwendet EPrints 3.3.12
Copyright © 2008-2013 Deutsches Zentrum für Luft- und Raumfahrt (DLR). Alle Rechte vorbehalten.