Ball Trajectory Planning in Serving Task for Table Tennis Robot

Abstract

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.