DocumentCode
3111430
Title
RoboTenis System Part II: Dynamics and Control
Author
Ángel, L. ; Sebastian, J.M. ; Saltaren, R. ; Aracil, R.
Author_Institution
Universidad Pontificia Bolivariana, Faculted de Ing. Electronica, Bucaramanga, Colombia (e-mail: langel@estii.upm.es).
fYear
2005
fDate
12-15 Dec. 2005
Firstpage
2030
Lastpage
2034
Abstract
In this paper the equations of motion and the control of the RoboTenis system are presented. The dynamic model is based upon Largrangian multipliers. The main innovation is the use of forearms of non-neigligible 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.
Keywords
Control systems; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Nonlinear equations; PD control; Prototypes; Robot control; Technological innovation; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN
0-7803-9567-0
Type
conf
DOI
10.1109/CDC.2005.1582459
Filename
1582459
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