1. A method of playing pool, comprising the steps of: a) acquiring an image of a pool table using a first camera placed above the pool table and positioned that its image plane is substantially parallel to both a playing surface of the pool table and a longitudinal axis of a pool cue and transmitting this image to a computer processing means for analysis, the result of which is a determination of the position and identity of each pool ball on the pool table; b) said computer processing means planning a shot of a cue ball by the pool cue by calculating a desired position of the pool cue with respect to the cue ball in a pool table frame of reference including a tip position of said pool cue and orientation of the longitudinal axis of the pool cue; c) said computer processing means instructing said robot connected to said pool cue to position the pool cue to a preferred location from which to place a shot; and d) said computer processing means instructing the robot to place a shot.