Modeling of rebound phenomenon of a rigid ball with friction and elastic effects

Nakashima, Akira; Ogawa, Yuki; Kobayashi, Yasuhiko; Hayakawa, Yoshikazu

doi:10.1109/acc.2010.5530520

Cited by 45 publications

(36 citation statements)

References 7 publications

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“…To express those phenomena, a model has been proposed under physical considerations with experiments [8]. The model will be shown briefly.…”

Section: Racket Rebound Model (Rrm)mentioning

confidence: 99%

“…The notation p(t; t s , p s , v s , ω) will be used later for expressing a solution of ADM (3) at time t with initial conditions of p(t s ) = p s anḋ p(t s ) = v s . 2.1.3 Table Rebound Model (TRM) To express rebound phenomena between a spinning ball and a table, a model has been proposed and verified by using experimental data in [8]. The following is a brief explanation of the model.…”

Section: Aerodynamic Model (Adm)mentioning

confidence: 99%

“…In the serving, the ball must bound in the own court, which is different from the rallying, and so it is harder to make the ball trajectory planning. In this paper, a prediction problem and a racket control problem for the serving task are formulated by three physical models: aerodynamic model with drag and Magnus terms [7], and table and racket rebound models [8]. The prediction problem is to predict a served ball's position, translational and rotational velocities in the opponent's court.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Ball Trajectory Planning in Serving Task for Table Tennis Robot

Hayakawa

Nakashima

Itoh

et al. 2016

SICE Journal of Control, Measurement, and System Integration

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: This paper considers the serving task for the table tennis robot. Based on the physical models, the ball trajectory is formulated where the ball is hit by the racket and rebounds on the table in own court and in the opponent's court. Then the paper clarifies which variables among the ball's position, translational and rotational velocities can be controlled independently by the serving racket. Some numerical simulations verify the results work approximately well.

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“…To express those phenomena, a model has been proposed under physical considerations with experiments [8]. The model will be shown briefly.…”

Section: Racket Rebound Model (Rrm)mentioning

confidence: 99%

Section: Aerodynamic Model (Adm)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Ball Trajectory Planning in Serving Task for Table Tennis Robot

Hayakawa

Nakashima

Itoh

et al. 2016

SICE Journal of Control, Measurement, and System Integration

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“…And three physical models have been established: the aerodynamics model (ADM) which considers both the drag and Magnus forces [6], the table rebound model (TRM) and the racket rebound model (RRM) [7]. Both rebound models characterize the variation of the ball's translational and rotational velocities before and after rebounding.…”

Section: ) Detect the Ball's Position And Velocity Just After The Bamentioning

confidence: 99%

“…There are two physical models, the racket rebound model [7], [9] and the aerodynamic model [6]. The racket rebound model (RRM) expresses a relation between ball's velocities at the moment just before and after a racket strikes the ball.…”

Section: Physical Models Of Ball Motionmentioning

confidence: 99%

Racket Control for a Table Tennis Robot to Return a Ball

Hayakawa

Nakashima

2013

SICE Journal of Control, Measurement, and System Integration

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: This paper mainly proposes a racket control method for returning a table tennis ball to a desired position with a desired rotational velocity. The method determines the racket's state, i.e., the racket's striking posture and translational velocity by using two physical models: the racket rebound model and the aerodynamics model. The algorithm of determining the racket's state is derived by solving nonlinear equations and solving a two-point boundary value problem of a differential equation. But this is not suitable for a real-time process because of large computing time. The paper proposed a modified algorithm which could be used for a real-time process by introducing a simple aerodynamics model. Numerical simulations and experimental results show effectiveness of the proposed methods.

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