Parallel robot high speed object tracking

J. M. Sebastián, A. Traslosheros, L. Ángel, F. Roberti, R. Carelli

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

    9 Scopus citations


    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; the system is capable to interact with objects which move up to lm/s. The control strategy is composed by two intertwined control loops: The internal loop is faster and considers the information from the joints, its sample time is 0.5 ms. Second loop represents the visual servoing system, is external to the first mentioned and represents our study purpose, it is based on predicting the object velocity which is obtained form visual information, its sample time is 8.3 ms. Lyapunov stability analysis, system delays and saturation components has been taken into account.

    Original languageEnglish
    Title of host publicationImage Analysis and Recognition - 4th International Conference, ICIAR 2007, Proceedings
    PublisherSpringer Verlag
    Number of pages12
    ISBN (Print)9783540742586
    StatePublished - 2007
    Event4th International Conference on Image Analysis and Recognition, ICIAR 2007 - Montreal, Canada
    Duration: 22 Aug 200724 Aug 2007

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume4633 LNCS
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349


    Conference4th International Conference on Image Analysis and Recognition, ICIAR 2007


    • Parallel robot
    • System stability
    • Tracking
    • Visual control strategies


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