RoboTenis: Design, dynamic modeling and preliminary control

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn 1, Issue , 2005, Pages 747-752

  Angel L ^a   Sebastian J M ^b   Saltaren, R ^b   Aracil, R ^b   Gutierrez R ^b  

^a UNIVERSIDAD PONTIFICIA BOLIVARIANA   (Colombia)

^b UNIVERSIDAD POLITÉCNICA DE MADRID   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; DYNAMICS;

DYNAMIC MODELING; PARALLEL ROBOTS;

ROBOTICS;

EID: 27644523290     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (30)

1. L. Acosta, J.J. Rodrigo, J.A. Mendez, G.N. Marichal and M. Sigut, "Ping-Pong Player Prototype," IEEE Robotics and Automation Magazine, vol. 10, Issue 4, pp. 44-52, 2003.
2. R.L. Anderson, "A Robot Ping-Pong Player. Experiments in Real time Control," Cambridge, MA: MIT Press, 1987.
3. H. Fassler, H.A. Vasteras, and J.W. Zurich, "A Robot Ping-Pong Player: Optimized mechanics, high performance 3D vision, and intelligent sensor control," Robotersysteme. Berlin: Spring-Verlag, pp. 161-170, 1990.
4. J. Hartley, "Toshiba progress towards sensory control in real time," Indust. Robot, vol. 14, No. 1, pp. 50-52, 1987.
5. F. Naghdy, J. Wyatt and S. Tran, "A transputer-based architecture for control of a robot ping-pong player," Parallel Computing and Transputers. New York: IOS Press, pp. 311-317, 1993.
6. R.E. Stamper, L.W. Tsai, and G.C. Walsh, "Optimization of a Three Dof Translational Platform for Well-Conditioned Workspace," IEEE Int. Conf. on Robotics and Automation, Albuquerque, New Mexico, pp. 3250-3255, 1997.
7. K.Y. Tsai and K.D. Huang, "The Design Considerations of Manipulators," ASME Design Engineering Tech. Conf. and Computers and Information in Engineering, Baltimore, 2000.
8. V. Parenti-Castelli, R. Di Gregorio and F. Bubani, "Workspace and Optimal Design of a Pure Translation Parallel Manipulator," XIV National Congress AIMETA '99.
9. J.P. Merlet, "An improved design algorithm based on interval analysis for spatial parallel manipulator with specified workspace," IEEE Int. Conf. Robotics and Automation, Seoul, Korea, 2001.
10. M. Ceccarelli, and J. Angeles, "A numerical evaluation of the workspace of a seven-axis, redundant manipulator," IEEE Int. Conf Robotics and Automation. San Francisco, pp. 2551-2556, 2000.
11. E. Ottaviano and M. Ceccarelli, "Optimal Design of CaPaMan (Cassino Parallel Manipulator) With Prescribed Position and Orientation Workspace," 9 Int. Conf. on Control and Automation, 2001.
12. T. Yoshikawa, "Manipulability of robotic mechanisms," International Journal of Robotics Research, vol. 4, No. 2, pp. 3-9, 1985.
13. C. Gosselin and J. Angeles, "The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator," Journal of Mechanisms, Transmissions, and Automation in Design, vol. 110, pp. 35-41, 1988.
14. C. Gosselin, and J. Angeles, "The optimum kinematic design of aspherical three-degree-of-freedom parallel manipulator," ASME Journal of Mechanisms, Transmissions, and Automation in Design, vol. 111, No. 2, pp. 202-207, 1989.
15. C. Gosselin, "Determination of the Workspace of 6-DOF Parallel Manipulators," ASME Journal of Mechanical Design, vol. 112, pp.167-176, 1990.
16. S. Bhattacharya, H. Hatwal, and A. Ghosh, "On the Optimum Design of Stewart Platform Type Parallel Manipulators," Robótica, vol. 13, pp. 133-140, 1995.
17. F. Tahmasebi and LW. Tsai, "On the Stiffness of a Novel Six Degree-of-Freedom Parallel Mimi manipulator," Journal of Robotic Systems, vol. 12, No. 12, pp. 220-226, 1995.
18. J.K. Salisbury and J.J. Craig, "Articulated hands: force control and kinematics," International Journal of Robotics Research, vol. 1, No. 1, pp. 4-17, 1982.
19. K.E. Zanganeh and J. Angeles, "Kinematic Isotropy and the Optimum Design of Parallel Manipulators," The International Journal of Robotics Research, vol. 16, No. 2, pp. 185-197, 1997.
20. K. Miller, "Optimal Design and Modeling of Spatial Parallel Manipulators," The International Journal of Robotics Research, vol. 23, No. 2, pp. 127-140, 2004.
21. R. S. Stoughton and T. Arai, "A Modified Stewart Platform Manipulator with Improved Dexterity," IEEE Trans. Robotics and Automation, vol. 9, No. 2. pp. 166-173, 1993.
22. th International Symposium on Industrial Robot, pp. 91-100, 1988, Sydney, Australia.
23. A. Codourey, Dynamic Modeling and Mass Matrix Evaluation of the Delta Parallel Robot for Axis Decoupling Control, IEEE, 1995.
24. F. Pierrot, C. Reynaud and A. Fournier, Delta: A simple and Efficient Parallel Robot, Robotica, vol. 6, pp. 105-109, 1990.
25. K. Miller and R. Clavel, The Lagrange Based Model of Delta-4 Robot Dynamics, Robotersysteme 8, pp. 49-54, 1992.
26. K. Miller, Experimental Verification of Modeling of Delta Robot Dynamics by Direct Application of Hamilton's Principle, IEEE International Conference of Robotics and Automation, pp.532-537, 1995.
27. P. Guglielmetti and R. Longchamp, A Closed form Inverse Dynamics Model of the Delta Parallel Robot, Journal of Robotics Systems, vol. 6, pp 703-720, 1994.
28. D. Alciatore and C. Ng, "Determining manipulator workspace boundaries using the monte carlo method and least squares segmentation," ASME Robotics: Kinematics, Dynamics and Controls, vol. 72, pp. 141-146, 1994.
29. C. Gosselin and J. Angeles, "A global Performance Index for the kinematic Optimization of robotic Manipulators," ASME Journal of Mechanical Design, vol. 113, pp. 220-226, 1991.
30. L. Angel, J.M. Sebastian, R. Saltaren, and R. Aracil, "RoboTenis: Parallel robot with Visual Control," WAC 2004, Seville-Spain, 2004.