Artículo Científico. Autonomous Control Technique for an Air Hockey Table

Abstract

This article presents the construction of an air hockey table for testing control techniques used in robotic systems, the table consists of a two degrees of freedom robotic opponent; computer vision techniques are implemented using erosion and dilatation methodologies as part of mathematical morphology and the Pinhole camera model for detection and positioning of the robotic opponent. Each feature of the structure and construction of the pieces that constitute the mechanical system is detailed as well as the composition of the electronic system. The architecture of the table includes high-performance low-cost materials for this reason optimization design techniques and ergonomic designs are considered. Finally, the robotic opponent is tested with different autonomous control techniques i.e. a trajectory tracking control. The results show the efficiency of the construction of the air hockey table oriented to autonomous control methods.