Visual servoing of a parallel robot system

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

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

    7 Scopus citations

    Abstract

    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.

    Original languageEnglish
    Title of host publication2007 IEEE International Symposium on Intelligent Signal Processing, WISP
    DOIs
    StatePublished - 2007
    Event2007 IEEE International Symposium on Intelligent Signal Processing, WISP - Alcala de Henares, Spain
    Duration: 3 Oct 20075 Oct 2007

    Publication series

    Name2007 IEEE International Symposium on Intelligent Signal Processing, WISP

    Conference

    Conference2007 IEEE International Symposium on Intelligent Signal Processing, WISP
    Country/TerritorySpain
    CityAlcala de Henares
    Period3/10/075/10/07

    Keywords

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

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