I developed this project as part of my research internship at Polytechnique Montreal. The aim of the project was to grasp moving objects with an assistive robotic arm. I developed the architecture of the system, as well as algorithms to identify a pingpong ball, estimate its trajectory, and move the robot arm to intercept it.
The full description of the project can be found in this paper
This video describes the project and shows it working.
This playlist contains videos of every step of the project.
All the code generated by me is in the folder /src/pingpong
Installation manual in InstallationManual.md
Kudos to Caroline Chiacchierini that continued the research and put it to work in a real JACO arm. Video here.