Final Year Project - Robot plays air hockey

Hi, I have discovered a behaviour that the ABB makes when attempting to hit a moving puck as shown in the video below. This behaviour is caused by having multiple predictions in one puck motion. Video of ABB attempting to hit the puck multiple times The logic of my current system is to take three puck positions, predict a future position and move the ABB to the predicted position. If there are still pre-recorded puck positions, the ABB will attempt to move. There are two ways that I explored to fix this problem: 1. Take more than three positions to reduce number of predictions in one puck motion. Although, this would delay the start of the robot's motion as more positions has to be recorded which is not ideal as using three positions would often yield the same predicted position as recording ten positions. Also, considering the delay I have encountered when sending a command to the ABB, I want to predict and move the ABB as soon as possible. 2. The second op...

Hi, To avoid the robot from unexpectedly moving to unwanted positions, I created collision objects around the robot for safety measures. If a trajectory is created and it involves one of its way points to collide into the objects, the robot will not complete the trajectory and stop to the way point just before colliding. The video below showcases the robot's parts going red when colliding into the green objects. When setting a pose target, the robot will stop before colliding in both simulation and in the real-world. Video showing collision objects Immanuel