A robot server assembly for serving table tennis balls comprising: a body with an upper end and a lower end, said body defining an internal ball path; ball pickup apparatus for introducing balls into the internal ball path at the lower end of the body; a ball guide at the upper end of the body, said ball guide having an open bottom in communication with the internal ball path and an open front; a serving head assembly attached to the upper end of the body having a ball discharge tube assembly in communication with the open front of the ball guide; wherein the serving head assembly includes a serving head; a pair of opposed discharge wheels (76, 78) operatively associated with the discharge tube assembly; a plurality of gears operatively associated with the serving head; and at least one servo motor (48, 94, 104) operatively associated with at least one of said plurality of gears to actuate rotation of said gears; characterised in that each discharge wheel (76, 78) has a pair of opposed rims (80, 82) and each said rim (80, 82) has a high coefficient of friction, the rims (80, 82) extending through openings (68, 70) of the discharge tube assembly and partially into a bore defined by the discharge tube assembly; whereby the plurality of gears includes at least a main circumferential gear around the exterior of the discharge tube assembly, actuation of which effects up to 180° rotation of the serving head about a longitudinal axis of the serving head; and whereby the plurality of gears includes at least an arcuate gear, actuation of which effects up and down movement of the serving head; whereby the plurality of gears includes at least a semicircular gear, actuation of which effects side to side movement of the serving head about an axis located posteriorly of the discharge wheels (76, 78). a body with an upper end and a lower end, said body defining an internal ball path; ball pickup apparatus for introducing balls into the internal ball path at the lower end of the body; a ball guide at the upper end of the body, said ball guide having an open bottom in communication with the internal ball path and an open front; a serving head assembly attached to the upper end of the body having a ball discharge tube assembly in communication with the open front of the ball guide; wherein the serving head assembly includes a serving head; a pair of opposed discharge wheels (76, 78) operatively associated with the discharge tube assembly; a plurality of gears operatively associated with the serving head; and at least one servo motor (48, 94, 104) operatively associated with at least one of said plurality of gears to actuate rotation of said gears; characterised in that each discharge wheel (76, 78) has a pair of opposed rims (80, 82) and each said rim (80, 82) has a high coefficient of friction, the rims (80, 82) extending through openings (68, 70) of the discharge tube assembly and partially into a bore defined by the discharge tube assembly; whereby the plurality of gears includes at least a main circumferential gear around the exterior of the discharge tube assembly, actuation of which effects up to 180° rotation of the serving head about a longitudinal axis of the serving head; and whereby the plurality of gears includes at least an arcuate gear, actuation of which effects up and down movement of the serving head; whereby the plurality of gears includes at least a semicircular gear, actuation of which effects side to side movement of the serving head about an axis located posteriorly of the discharge wheels (76, 78).