Robotenis: Parallel robot with visual control

Abstract:

RoboTenis is an experimental innovation platform with high performance for visual control of a parallel robot with four degrees of freedom (DOF). The platform is an open parallel structure for implementation of different strategies of visual control, that will allow the robot the play table tennis. The design of the platform consists of the construction of the parallel robot, the integration of the visual system and the developed algorithms for the visual control. This paper presents the platform RoboTenis and describes the desing of the parallel robot inspired by the Delta robot. The analyse the workspace of the robot together with the studies of the trajectories of the ball and the dynamic simulations of the robot that use ADAMS® allow to find the dimensions of the manipulator and information to select the motors.

Año de publicación:

2004

Keywords:

• Workspace
• Visual Servoing
• Inverse and forward kinematics
• Parallel robots

Fuente:

scopus