Description and Objectives

We wanted to take a robotic ping pong shooter and develop a code that implemented a GUI and some sort of player feedback to play a game of root beer pong against another human and constantly win. This project was broken down into multiple steps:

1) develop a D-H table for the ping pong shooter

2) test the velocity of the ping pong ball leaving the barrel of the shooter

3) develop the inverse kinematics of the robot and ballistic trajectory to solve for joint angles

4) develop the feedback control equations for the EKF

5) independently test each algorithm

6) integrate the algorithms

7) develop a GUI such that almost anyone could play the game without any knowledge of what was occurring behind the GUI

8) test the entire package vs multiple people