Visual servoing of a parallel robot system

This paper describes the visual control of a parallel robot called "RoboTenis". The system has been designed and built in order to carry out tasks in three dimensions and dynamical environments, thus the system is capable to interact with objects which move up to 1m/s. The control strategy...

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Bibliographic Details
Published in2007 European Control Conference (ECC) pp. 1463 - 1470
Main Authors Angel, L., Sebastian, J. M., Traslosheros, A., Roberti, F., Carelli, R.
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 01.07.2007
Subjects
Cameras
Dynamical systems
Dynamics
Equations
Mathematical model
Robots
Strategy
Tasks
Three dimensional
Visual
Visual control
Visual servoing
Visualization
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Summary:This paper describes the visual control of a parallel robot called "RoboTenis". The system has been designed and built in order to carry out tasks in three dimensions and dynamical environments, thus the system is capable to interact with objects which move up to 1m/s. The control strategy is composed by two intertwined control loops: The internal loop is faster and considers the information from the joins, its sample time is 0.5 ms. Second loop represents the visual servoing system which is external loop to the first mentioned, second loop represents the study purpose, that it is based in the prediction of the object velocity which is obtained form visual information and its sample time is 8.3 ms. Lyapunov stability analysis, system delays and saturation components has been taken into account.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Conference-1
ObjectType-Feature-3
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SourceType-Conference Papers & Proceedings-2
ISBN:3952417386
9783952417386
DOI:10.23919/ECC.2007.7068347