机器人用轻量臂与模型预测控制实现高速乒乓球击打，三种球路精准稳定。
High Speed Robotic Table Tennis Swinging Using Lightweight Hardware with Model Predictive Control
- 基于最优控制构建击球轨迹，约束拍面位置与姿态。
- 实测平均出球速度达11 m/s，成功率88%。
- 适合对实时性与动作多样性要求高的机器人操控研究者。
我们提出一种机器人乒乓球平台，可高精度、高功率、高一致性地实现多种击球风格与球旋转。该系统采用定制轻量化、高扭矩、低转子惯量的五自由度机械臂，具备高加速度能力。为生成击球轨迹，我们将问题建模为最优控制问题（OCP），约束击球时刻拍面的状态：终端位置由预测的球轨迹决定，终端姿态与速度则根据不同击球风格（上旋球、平击球、下旋球）进行配置。最后，构建固定时域模型预测控制器（MPC）围绕该OCP，使硬件能快速响应球轨迹变化。在真实设备上验证，系统可实现平均出球速度11 m/s，三种击球类型综合成功率88%。
原文摘要 · Abstract (English)
We present a robotic table tennis platform that achieves a variety of hit styles and ball-spins with high precision, power, and consistency. This is enabled by a custom lightweight, high-torque, low rotor inertia, five degree-of-freedom arm capable of high acceleration. To generate swing trajectories, we formulate an optimal control problem (OCP) that constrains the state of the paddle at the time of the strike. The terminal position is given by a predicted ball trajectory, and the terminal orientation and velocity of the paddle are chosen to match various possible styles of hits: loops (topspin), drives (flat), and chops (backspin). Finally, we construct a fixed-horizon model predictive controller (MPC) around this OCP to allow the hardware to quickly react to changes in the predicted ball trajectory. We validate on hardware that the system is capable of hitting balls with an average exit velocity of 11 m/s at an 88% success rate across the three swing types.
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