This paper describes the design and development of a ping-pong robotic arm as an application of robotic vision. Displaced frame difference (DFD) is utilized to segment the ball motion from background motion. 3-D ball tracking using parametric calibration of single CCD camera is explained. This visual information is temporally updated and further employed to guide a robot arm to hit the ball at a specified location. The results signify the system development based on single camera tracking. System latency is measured as a function of the camera interface, processor architecture, and robot motion. Various hardware and software parameters that influence the real time system performance are also discussed.
Date of creation, presentation, or exhibit
Department, Program, or Center
Microelectronic Engineering (KGCOE)
Modi, Kalpesh; Sahin, Ferat; and Saber, Eli, "An Application of human robot interaction: Development of a ping-pong playing robotic arm" (2005). Accessed from
RIT – Main Campus