RoboTenis: Design, dynamic modeling and preliminary control

L. Ángel; J. M. Sebastián; R. Saltaren; R. Aracil; R. Gutiérrez

RoboTenis: Design, dynamic modeling and preliminary control

L. Ángel
, J. M. Sebastián
, R. Saltaren
, R. Aracil
, R. Gutiérrez

Research output: Contribution to conference › Paper published in the proceedings of the event without ISBN or ISSN › peer-review

12 Scopus citations

Abstract

The accomplishment of robotic tasks involving dynamical environments requires lightweight yet stiff structures, actuators allowing for high acceleration and high speed, fast sensor signal processing, and sophisticated control schemes which take into account the highly nonlinear robot dynamics. As a tool for the investigation of these issues we present the RoboTenis system. This system proposes the design and construction of a high-speed parallel robot that will perform complex tasks aided by a vision system. As a specialized application to demonstrate its speed and versatility we intend the robot to play table tennis. In this paper we present the design of the parallel robot, the dynamic modeling and the first control experiences. The results prove that the system is able of performing the desired task.

Original language	English
Pages	747-752
Number of pages	6
State	Published - 2005
Event	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: 24 Jul 2005 → 28 Jul 2005

Conference

Conference	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Country/Territory	United States
City	Monterey, CA
Period	24/07/05 → 28/07/05

Cite this

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title = "RoboTenis: Design, dynamic modeling and preliminary control",

abstract = "The accomplishment of robotic tasks involving dynamical environments requires lightweight yet stiff structures, actuators allowing for high acceleration and high speed, fast sensor signal processing, and sophisticated control schemes which take into account the highly nonlinear robot dynamics. As a tool for the investigation of these issues we present the RoboTenis system. This system proposes the design and construction of a high-speed parallel robot that will perform complex tasks aided by a vision system. As a specialized application to demonstrate its speed and versatility we intend the robot to play table tennis. In this paper we present the design of the parallel robot, the dynamic modeling and the first control experiences. The results prove that the system is able of performing the desired task.",

author = "L. {\'A}ngel and Sebasti{\'a}n, \{J. M.\} and R. Saltaren and R. Aracil and R. Guti{\'e}rrez",

year = "2005",

language = "Ingl{\'e}s",

pages = "747--752",

note = "Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 ; Conference date: 24-07-2005 Through 28-07-2005",

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RoboTenis: Design, dynamic modeling and preliminary control. / Ángel, L.; Sebastián, J. M.; Saltaren, R. et al.
2005. 747-752 Paper presented at Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, United States.

Research output: Contribution to conference › Paper published in the proceedings of the event without ISBN or ISSN › peer-review

TY - CONF

T1 - RoboTenis

T2 - Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

AU - Ángel, L.

AU - Sebastián, J. M.

AU - Saltaren, R.

AU - Aracil, R.

AU - Gutiérrez, R.

PY - 2005

Y1 - 2005

N2 - The accomplishment of robotic tasks involving dynamical environments requires lightweight yet stiff structures, actuators allowing for high acceleration and high speed, fast sensor signal processing, and sophisticated control schemes which take into account the highly nonlinear robot dynamics. As a tool for the investigation of these issues we present the RoboTenis system. This system proposes the design and construction of a high-speed parallel robot that will perform complex tasks aided by a vision system. As a specialized application to demonstrate its speed and versatility we intend the robot to play table tennis. In this paper we present the design of the parallel robot, the dynamic modeling and the first control experiences. The results prove that the system is able of performing the desired task.

AB - The accomplishment of robotic tasks involving dynamical environments requires lightweight yet stiff structures, actuators allowing for high acceleration and high speed, fast sensor signal processing, and sophisticated control schemes which take into account the highly nonlinear robot dynamics. As a tool for the investigation of these issues we present the RoboTenis system. This system proposes the design and construction of a high-speed parallel robot that will perform complex tasks aided by a vision system. As a specialized application to demonstrate its speed and versatility we intend the robot to play table tennis. In this paper we present the design of the parallel robot, the dynamic modeling and the first control experiences. The results prove that the system is able of performing the desired task.

UR - https://www.scopus.com/pages/publications/27644523290

M3 - Ponencia publicada en las memorias del evento sin ISBN o ISSN

AN - SCOPUS:27644523290

SP - 747

EP - 752

Y2 - 24 July 2005 through 28 July 2005

ER -

RoboTenis: Design, dynamic modeling and preliminary control

Abstract

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