Each team member is responsible for a component of the project, such as the sensing, testing, or operation of the robotic arm. I am mainly responsible for the control of the system. I created a program that, when it receives the red ball coordinates (trajectories) indicated by the sensing unit, my program will perform PID control to enable the robotic arm to block the ball that is about to enter the net. The problem I'm having comes from the speed limit of the robotic arm. Because the mechanical arm is powerful but insufficient in speed, it is extremely difficult to intercept the faster ball in the execution part. In order to speed up the overall response, I designed motion patterns in which multiple joints work together; and I innovatively used a look-up table instead of fixed-point trajectory planning to speed up the analysis process.

In the end, we got a good response in the integration tests. Our final product is capable of intercepting ball speeds of about 1 to 1.5 meters per second.