University of Twente Student Theses
Towards KriCatch : A Slip Catching Practice System for the game of Cricket
Bhole, Ajinkya (2018) Towards KriCatch : A Slip Catching Practice System for the game of Cricket.
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| Abstract: | This work presents KriCatch 1.0, output of the first design iteration for KriCatch, a slip catching practice system for the game of Cricket. Present slip catching practice systems for the game of Cricket comprise of a thrower throwing a ball towards a coach or a passive equipment, which then swerve the ball for a user’s catching practice. These methods cannot provide a catching practice with good efficacy, versatility and a degree of realism, pointing towards the need for one. In this respect, KriCatch is being designed. KriCatch 1.0 comprises of a thrower who throws a ball towards a robotic manipulator which can swerve the ball to a desired point. To achieve this, four subsystems are designed. The first subsystem senses the position of the thrown ball, estimates and predicts the trajectory of the ball and finally provides an interception point for the robotic manipulator. The second subsystem decides the spot where the thrown ball should be sent to. The third subsystem decides the strategy for how the ball needs to be sent to, to the spot decided by the second subsystem, by the robotic manipulator. The fourth subsystem finally plans and executes the trajectory for the robotic manipulator, to intercept the ball. To evaluate the designed system, a prototype of the designed system is setup and experimented upon. It is observed that the ball is successfully intercepted by the robotic manipulator when the interception point lies in the manipulators achievable workspace. However, the ball cannot be sent accurately to the desired spots. This is mainly because the robotic manipulator is not able to perfectly track the commanded trajectory to intercept the ball, on account of its joint velocity, acceleration and jerk limits. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 50 technical science in general |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/76557 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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