Robotic soft ball throwing

Published: 9 September 2019| Version 1 | DOI: 10.17632/d75vv3tdkg.1
Contributors:
Sigal Berman,
Yosef Cohen

Description

The data includes the setup and result parameters of a robotic soft ball throwing task. Three experiments were conducted. Two in simulation and one in a physical setup. In one simulation the ball motion was based on ballistic equations and in the second simulation the ball velocity was adapted to: v_adp=v(1+e^((-|R_max-R|)/20))(1+cos⁡(β)) Where Rmax is the maximal R The setup parameters (trajectory end point: β, h, R) were used in a DMP equation which was then executed either in simulation or with the hardware for forming a trajectory for the robot (a Motoman UP6 manipulator) and throwing the ball. The ball was thrown at the moment the trajectory reached the maximal velocity (not at the end of the motion). In the simulations the robot was modeled using the Robotics toolbox in Matlab. In the physical setup, the robot was fit with a ball holder and a green plastic mat was printed marking distance, and angles about the robot’s base. An overhead video camera was mounted for determining the landing position. A soft red ball made out of clay gel polymer was used for throwing (radius 26 mm, weight 90 gr). All files include five columns (parameters computed with respect to the robot’s base): r - The ball landing radius [cm] α - The ball landing angle [deg] β - The angle of the robot’s Tool Center Point at the end of the throwing motion [deg] h - The height of the robot’s Tool Center Point at the end of the throwing motion [cm] R - The radius of the robot’s Tool Center Point at the end of the throwing motion [cm] The files are: BM_Simulation_Dataset - 1000 records of the ballistic model BM_Simulation_Testset - 125 records of the ballistic model AM_Simulation_Dataset - 1000 records of the adapted model AM_Simulation_Testset - 125 records of the adapted model PhysicalExperiment_Dataset - 45 records of the physical experiment PhysicalExperiment_Testset - 12 records of the physical experiment

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