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RoboTenis system part II: Dynamics and control

Abstract:

In this paper the equations of motion and the control of the RoboTenis system are presented. The dynamic model is based upon Lagrangian multipliers. The main innovation is the use of forearms of non-negligible inertias (1.315 Kg) in the dynamic model of the manipulator for the development of control strategies. A PD control law (nonlinear feedforward PD control) is applied. Several trajectories have been programmed and tested on the prototype. The experimental results demonstrated that the speed and acceleration of the robot can be satisfying the proposed task. © 2005 IEEE.

Año de publicación:

2005

Keywords:

    Fuente:

    scopusscopus

    Tipo de documento:

    Conference Object

    Estado:

    Acceso restringido

    Áreas de conocimiento:

    • Sistema de control
    • Robótica

    Áreas temáticas:

    • Física aplicada
    • Otras ramas de la ingeniería
    • Juegos y deportes al aire libre

    Contribuidores:

    Sebastian J.M.Sebastian J.M.
    Roque J. Saltarén PazmiñoRoque J. Saltarén Pazmiño
    Santonja R.A.Santonja R.A.
    Silva L.A.Silva L.A.