@inproceedings{c43fa5f23f3745a1b75a0ecc5f65c331,
title = "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.",
author = "L. Angel and Sebasti{\'a}n, {J. M.} and R. Saltaren and R. Aracil",
year = "2005",
doi = "10.1109/CDC.2005.1582459",
language = "Ingl{\'e}s",
isbn = "0780395689",
series = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",
pages = "2030--2034",
booktitle = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",
note = "44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 ; Conference date: 12-12-2005 Through 15-12-2005",
}