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Final Year Project - Robot plays air hockey

I aim to create a robotic system that will allow a serial manipulator called ABB IRB 120 play air hockey against a human opponent. This is a project development that includes a series of posts about my weekly progress of the project. Welcome to my blog!

Final System

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- May 02, 2019

THIS IS A VIDEO OF THE FINAL SYSTEM SHOWCASING THE PROCESS DEVELOPMENT OF IMAGE PROCESSING, TRAJECTORY PREDICTION AND ROBOT MOTION CONTROL.

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Introduction

- January 24, 2019

Hi! In this blog, I will be demonstrating my progress for the last semester of my final year as a Robotics student at Middlesex University. This blog will solely focus on the project development of creating a robotic system that will allow a serial manipulator play air hockey against a human opponent. Currently, this project can be divided into 3 main tasks: Track the location of the puck within the working space during live demo Implement a trajectory prediction in 2-D Cartesian space to identify where the robot should position itself in relation to the position of the puck Create a graphical user interface (GUI) to allow human opponent to easily set up and play a game of air hockey against the robot. By next week, I will research exiting robotic systems to understand what the creator(s) of the system have done to solve such tasks and their reasoning for it. Note: This blog will not start at Week 1 but at Week 14 to coincide with the university calendar. ...

Implementing bounce trajectory algorithm

- April 27, 2019

Hi, I implemented the bounce trajectory that I developed in simulation to the final system. Bouncing the puck against the table sides reduced its velocity and thus gave the robot more time to react. Although the algorithm is far from perfect, I am glad that I developed this algorithm as the robot would at least move to an estimate future puck position. Possible reason for the error could be the bounce trajectory algorithm which assumes that there is no velocity lost after the puck hits the sides and thus would not alter the direction of travel. Another reason could be the vision of not localising the centre point of the puck properly in some areas of the table. Anyways, below is a video of the robot moving to a predicted future puck positions after a bounce(s). Video of bounce trajectory on final system Immanuel