Aggressive trajectory generator for a robot ping-pong player

A trajectory generation and tracking system designed to operate in a very dynamic environment is described. The system drives a PUMA 260 which is part of a functioning robot ping-pong player. The goal is to achieve predictable, reliable, high-performance motions at the envelope of robot capabilities. The task is sensor-driven, each motion is unique, and motions have to be changed while they are in progress. The author describes some of the requirements in detail, compares alternative high-performance trajectory types, describes the properties of the quintic polynomials used, discusses how to determine if a trajectory is feasible, and then outlines the implementation and its performance.>