Design and Control of a Vertical Ball Juggling Delta Robot Without Visual Guidance

  • Zeeshan ShareefEmail author
  • Viktor Just
  • Heinrich Teichrieb
  • Ansgar Trächtler
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


In this paper, the design and control of a vertical ball juggling Delta robot is presented. The position and velocity of the ball, factors play an important role during juggling. Quite often these factors are calculated using visual guidance. This paper introduces a control algorithm to juggle the ball vertically in two dimensions (2D) without visual guidance method. Instead of normal visual guidance method, an observer based on the reflection laws is used to get the continuous position and velocity of the ball. The next hitting time and the hitting velocity of the ball are predicted using the projectile motion equations. Three different controllers are designed for the stability and tracking of variable reference height of the ball during juggling and to keep the ball from falling off. The validation of this proposed control algorithm for ball juggling is shown by the simulation and preliminary experimental results.


Playing robot Blind juggling Control architecture Fuzzy logic controller Reflection laws 



The authors would like to thank the International Graduate School of Dynamic Intelligent System at the University of Paderborn for the financial support of this research.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Zeeshan Shareef
    • 1
    Email author
  • Viktor Just
    • 1
  • Heinrich Teichrieb
    • 2
  • Ansgar Trächtler
    • 1
  1. 1.Control Engineering and Mechatronics, Heinz Nixdorf InstituteUniversity of PaderbornPaderbornGermany
  2. 2.Project Group Mechatronic Systems DesignFraunhofer Institute for Production Technology IPTPaderbornGermany

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