High-speed visual servoing of PKMs

L. Ángel, A. Traslosheros, J. M. Sebastian, L. Parí

    Research output: Chapter in Book/Report/Conference proceedingConference and proceedingspeer-review

    2 Scopus citations

    Abstract

    In this paper a visual servoing architecture based on a parallel robot for the tracking of faster moving objects with unknown trajectories is proposed. The control strategy is based on the prediction of the future position and velocity of the moving object. The synthesis of the predictive control law is based on the compensation of the delay introduced by the vision system. Demonstrating by experiments, the high-speed parallel robot system has good performance in the implementation of visual control strategies with high temporary requirements.

    Original languageEnglish
    Title of host publication2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings
    Pages2053-2058
    Number of pages6
    DOIs
    StatePublished - 2007
    Event2007 IEEE International Symposium on Industrial Electronics, ISIE 2007 - Caixanova - Vigo, Spain
    Duration: 4 Jun 20077 Jun 2007

    Publication series

    NameIEEE International Symposium on Industrial Electronics

    Conference

    Conference2007 IEEE International Symposium on Industrial Electronics, ISIE 2007
    Country/TerritorySpain
    CityCaixanova - Vigo
    Period4/06/077/06/07

    Fingerprint

    Dive into the research topics of 'High-speed visual servoing of PKMs'. Together they form a unique fingerprint.

    Cite this