RoboTenis system part II: Dynamics and control

L. Angel, J. M. Sebastián, R. Saltaren, R. Aracil

    Research output: Chapter in Book/Report/Conference proceedingConference and proceedingspeer-review

    16 Scopus citations

    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.

    Original languageEnglish
    Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
    Pages2030-2034
    Number of pages5
    DOIs
    StatePublished - 2005
    Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
    Duration: 12 Dec 200515 Dec 2005

    Publication series

    NameProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
    Volume2005

    Conference

    Conference44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
    Country/TerritorySpain
    CitySeville
    Period12/12/0515/12/05

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