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Badminton Playing Robot - A Multidisciplinary Test Case in Mechatronics
Badminton Playing Robot - A Multidisciplinary Test Case in Mechatronics
Badminton Playing Robot - A Multidisciplinary Test Case in Mechatronics
e-mail: julian.stoev@fmtc.be
e-mail: steven.gillijns@fmtc.be
e-mail: andrei.bartic@fmtc.be
e-mail: wim.symens@fmtc.be
Abstract: We present a Mechatronics design approach and related technologies for a badminton
playing robot, as a first stage of a multi-year project. The robot is using non-modified shuttles
and rackets, which are detected and localized using purely visual information. The robot
subsystems are presented: mechanical design, visual detection of the shuttle, shuttle trajectory
estimation and interception, actuation, control hardware and software. The paper demonstrates
the multidisciplinary nature of the Mechatronics.
Keywords: motion estimation, motor control, optimal trajectory, visual pattern recognition
1. INTRODUCTION
We present a design case for a badminton playing robot.
The robot integrates several distinct and inter-operating
sub-systems. The sub-systems in question are dealing
with visual recognition of the flying shuttle, estimation
of its trajectory and possible interception points, moving
the robot to the interception point and performing the
interception hit.
A particular challenge in the Mechatronics is the integration of diverse technologies from different areas of engineering and science.
Mechanical design of the robot and embedded hard realtime and soft real-time system programming on distributed computing platforms are also an important part
of the realization.
Badminton is a very dynamic game and no other robots in
this domain are known to the authors. The fastest smash
recorded is 332 kph by Chinese mens doubles star Fu
Haifeng at the 2005 Sudirman Cup in Beijing.
Due to the high accelerations and velocities of the robot,
safety issues are also part of the decision process. As this
is a multi-year project, preference was given initially for
the safe and tested off-the-shelf technologies and materials,
while taking into account the potential for the future by
ensuring sufficiently modular design. At the later stages,
one can replace the conservatively designed blocks with
more aggressive approaches.
The project is supported financially by the Flanders government. All project members would like to thank Dirk Wenmakers
(dirk.wenmakers@skynet.be) and Dirk Nuyts (Dirk.Nuyts@cit.be)
for their valuable contribution as project consultants
Outline of the paper: First the robot concept is presented, including the mechanical configuration. The visual
system used for the localization of the flying shuttle is
given next. Then we describe our approach for trajectory
estimation of the flying shuttle, followed by the motion
control part for the robot actuation and discussion on
software implementation.
2. MECHANICAL DESIGN
The basic badminton field, the human player, the robot
and the flying shuttle are shown on Fig. 1.
The current version of the robot has 3 degrees of freedom:
Linear Axis: used to position the robot across the
field using a linear motor.
Rotation Axis: used to adjust the position of the
racket on the interception plane.
Hit Axis: used to position the racket for the hit
and for performing the actual hit.
The mechanical design of the robot was challenging due to
the extremely high acceleration and velocity requirements.
The current configuration is the initial design of a multiyear project. Several alternative mechanical configurations
were analyzed during the concept phase. This included
wheeled robot with omni-wheels and wheel-chair type
robots. Some of them were rejected, some of them may be
implemented later. The main reason for discarding such
options were the very high accelerations and velocities
required in the badminton play, which are impossible
to achieve in the wheeled robots due to the physical
limitations on the wheel traction.
The current mechanical implementation is shown on Fig. 2.
The robot in this particular configuration can not cover all
(1) The first stage finds all moving objects in the image.
The following stages will filter the found objects
on size, shape and intensity. The analysis is first
performed independently on the images coming from
the 2 cameras. An epiline is computed for every object
found in the image.
(2) During the second step the information from the
images of the 2 cameras is combined. The objects
matched in pairs based on the distance between the
epilines.
(3) The epilines are computed knowing the relative position between the 2 cameras. The position is expressed
as a translation and a rotation matrix. These matrices are computed by performing extrinsic camera
calibration. This process is performed by localizing
the position of objects with known coordinates in the
images taken with the 2 cameras. A 3-D Cartesian
model is then fitted between these points where the
fit parameters are the matrix coefficients. The fit error
is in average below 2cm in all 3 dimensions.
z coordinate [m]
3
2.5
2
9
1.5
8
1
0.5
5
x coordinate [m]
4
3
2.8
2.6
2.4
2.2
y coordinate [m]
6. ACTUATION SYSTEM
The actuation system receives the target coordinates of the
interception point and positions the robot at the location
where the hit motion should happen.
The main control challenges are twofold:
z coordinate [m]
2.5
2
9
1.5
8
1
7
0.5
6
5
x coordinate [m]
4
3
2.8
2.6
2.4
2.2
y coordinate [m]
24
24.2
24.4
24.6
24.8
25
25.2
Time [s]
hit angle
[deg]
40
20
0
20
23.8
24
24.2
24.4
24.6
24.8
25
25.2
Time [s]
rotational
angle [deg]
100
50
0
50
23.8
24
24.2
24.4
24.6
Time [s]
24.8
25
25.2
100
Magnitude (dB)
80
60
40
20
estimated plant transfer function
measured plant freq. response
20
0
Phase (deg)
180
360
540
720
0
10
10
10
Frequency (Hz)
The weak points for MPT are due to the complex properties of the obtained control laws:
Bode Diagram
100
Magnitude (dB)
80
60
40
20
estimated plant transfer function
measured plant freq. response
0
20
0
Phase (deg)
90
180
270
360
450
10
10
Frequency (Hz)
10
Fig. 7. Rotation axis experimental FRF from motor current to angular position
Bode Diagram
80
Magnitude (dB)
100
60
40
20
0
20
0
90
Phase (deg)
180
270
360
450
0
10
10
10
Frequency (Hz)
visual
set-point
anti-windup
e
f(e)
K2
SAT
N/s
uref
model controller
1/s
yref
model plant
+
+
SAT
Physical plant
PTOS
reference
C(z)
sat(.)
P(z)
position feedback
Linear Controller
Estimator