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Playing billard with an anthropomorphic robot arm

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

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Abstract

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.

Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Playing billard with an anthropomorphic robot arm
Authors:
AuthorsInstitution or Email of Authors
Parusel, SvenUNSPECIFIED
Date:17 July 2009
Number of Pages:78
Status:Published
Keywords:Playing, Robot, Arm, Billard, Billiard, anthropomorphic
Institution:Hochschule Kempten
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Jessica Laskey
Deposited On:15 Dec 2009 16:31
Last Modified:12 Dec 2013 20:48

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