Robotenis: parallel robot with visual control

Author

Ángel, L. ; Saltarén, R. ; Sebastián, J.M. ; Hansson, A. ; Aracil, R.

Author_Institution

Dipt. de Autom. Ingenieria Electron. e Inf. Ind., Univ. Politecnica de Madrid

Volume

15

fYear

2004

fDate

June 28 2004-July 1 2004

Firstpage

405

Lastpage

412

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 the implementation of different strategies of visual control that allow the robot to 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 design of the parallel robot inspired by the Delta robot. They 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^reg allow to find the dimensions of the manipulator and information to select the motors

Keywords

control engineering computing; digital simulation; manipulator dynamics; manipulator kinematics; position control; robot vision; sport; 4 DOF; ADAMS^reg simulation; Delta robot; RoboTenis platform; dynamic simulation; four degrees of freedom; manipulator; open parallel structure; parallel robot design; robot workspace analysis; visual control; visual system; Algorithm design and analysis; Automatic control; Control systems; Industrial control; Manipulator dynamics; Parallel robots; Robot control; Robotics and automation; Service robots; Visual system;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Congress, 2004. Proceedings. World

Conference_Location

Seville

Print_ISBN

1-889335-21-5

Type

conf

Filename

1438585