Final Year Project - Robot plays air hockey

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

Hi, This blog will cover the results gained from testing the accuracy of the robot successfully hitting the puck at varying angles for both sides. Below is a graph of the results. Relationship between successfully hitting the puck at varying angles for both table sides. The robot had the most success hitting the puck when it bounced off the right side of the table greater than the left side for all three categories. Each category had a sample size of 10. The performance of the robot decreases with increasing angle. However, as the speed was not taken into consideration when conducting this test, some of the results may be a result of the robot not having enough time to react. For both sides, the robot had the most success of hitting the puck at an angle less than 50 ° a s the puck bounced multiple times, reducing its velocity and allowing the robot enough time to react with 83% success rate at right side and 50% on the left side. A possible reason for the difference betwee...

Hi, This blog will cover the results gained from testing the accuracy of the robot successfully hitting the puck at varying speeds. Below is a graph of the results. Relationship between successfully hitting the puck at varying speeds The robot couldn't hit a moving puck with a velocity of over 250 cm/second as it didn't have enough time to react. Increasing the speed of the robot will not solve this problem as there will always be an initial delay before executing every motion commands due to the download approach that the ROS-Industrial driver provides for the ABB IRB 120. Although, the system prefers slower puck to allow enough time for the robot to react, a puck moving at a velocity of less than 50 cm/seconds reduced success rate to 16.6% with sample size of 6. A valid reason could be that as the puck cannot get enough acceleration to avoid being affected by physical properties like warping of the table, the direction of the puck is affected. The robot moves to th...