Ball positioning in robotic billiards: a nonprehensile manipulation-based solution

Mathavan, S. ORCID: 0000-0001-7003-2874, Jackson, M.R. and Parkin, R.M., 2016. Ball positioning in robotic billiards: a nonprehensile manipulation-based solution. IEEE/ASME Transactions on Mechatronics, 21 (1), pp. 184-195. ISSN 1083-4435

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Abstract

The development and testing of a robotic system to play billiards is described in this paper. The last two decades have seen a number of developments in creating robots to play billiards. Although the designed systems have uccessfully incorporated the kinematics required for gameplay, a system level approach needed for accurate shot-
making has not been realized. The current work considers the different aspects, like machine vision, dynamics, robot design and computational intelligence, and proposes, for the first time, a method based on robotic non-prehensile manipulation. High-speed video tracking is employed to determine the parameters of balls dynamics. Furthermore, three-dimensional impact models, involving ball spin and friction, are developed for different collisions. A three degree of freedom manipulator is designed and fabricated to execute shots. The design enables the manipulator to position the cue on the ball accurately and strike with controlled speeds. The manipulator is controlled from a PC via a microcontroller board. For a given table scenario, optimization is used to search the inverse dynamics space to find best parameters for the robotic shot maker. Experimental results show that a 90% potting accuracy and a 100–200 mm post-shot cue ball positioning accuracy has been achieved by the autonomous system.

Item Type: Journal article
Alternative Title: Robotic billiards: a holistic approach
Publication Title: IEEE/ASME Transactions on Mechatronics
Creators: Mathavan, S., Jackson, M.R. and Parkin, R.M.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: February 2016
Volume: 21
Number: 1
ISSN: 1083-4435
Identifiers:
NumberType
10.1109/TMECH.2015.2461547DOI
Divisions: Schools > School of Architecture, Design and the Built Environment
Depositing User: Linda Sullivan
Date Added: 07 Aug 2017 10:45
Last Modified: 07 Aug 2017 10:47
URI: http://irep.ntu.ac.uk/id/eprint/31391

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