Visual servoing of a parallel robot system

L. Angel; J. M. Sebastian; A. Traslosheros; F. Roberti; R. Carelli

doi:10.23919/ecc.2007.7068347

Visual servoing of a parallel robot system

L. Angel, J. M. Sebastian, A. Traslosheros, F. Roberti, R. Carelli

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

3 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 language	English
Title of host publication	2007 European Control Conference, ECC 2007
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1463-1470
Number of pages	8
ISBN (Electronic)	9783952417386
DOIs	https://doi.org/10.23919/ecc.2007.7068347
State	Published - 2007
Event	2007 9th European Control Conference, ECC 2007 - Kos, Greece Duration: 2 Jul 2007 → 5 Jul 2007

Publication series

Name	2007 European Control Conference, ECC 2007

Conference

Conference	2007 9th European Control Conference, ECC 2007
Country/Territory	Greece
City	Kos
Period	2/07/07 → 5/07/07

Bibliographical note

Publisher Copyright:
© 2007 EUCA.

Access to Document

10.23919/ecc.2007.7068347

Cite this

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title = "Visual servoing of a parallel robot system",

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.",

author = "L. Angel and Sebastian, {J. M.} and A. Traslosheros and F. Roberti and R. Carelli",

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Angel, L, Sebastian, JM, Traslosheros, A, Roberti, F & Carelli, R 2007, Visual servoing of a parallel robot system. in 2007 European Control Conference, ECC 2007., 7068347, 2007 European Control Conference, ECC 2007, Institute of Electrical and Electronics Engineers Inc., pp. 1463-1470, 2007 9th European Control Conference, ECC 2007, Kos, Greece, 2/07/07. https://doi.org/10.23919/ecc.2007.7068347

Visual servoing of a parallel robot system. / Angel, L.; Sebastian, J. M.; Traslosheros, A. et al.
2007 European Control Conference, ECC 2007. Institute of Electrical and Electronics Engineers Inc., 2007. p. 1463-1470 7068347 (2007 European Control Conference, ECC 2007).

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

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AB - 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.

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BT - 2007 European Control Conference, ECC 2007

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Y2 - 2 July 2007 through 5 July 2007

ER -

Visual servoing of a parallel robot system

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