Visual servoing for the Robotenis system: A strategy for a 3 DOF parallel robot to hit a Ping-Pong ball

Alberto Traslosheros, Jose Maria Sebastian, Luis Angel, Flavio Roberti, Ricardo Carelli

Producción científica: Capítulo del libro/informe/acta de congresoPonencia publicada en las memorias del evento con ISBNrevisión exhaustiva

4 Citas (Scopus)

Resumen

This article describes a new visual servo control and strategies that are used to carry out dynamic tasks by the Robotenis platform. This platform is basically a parallel robot that is equipped with an acquisition and processing system of visual information, its main feature is that it has a completely open architecture control, and planned in order to design, implement, test and compare control strategies and algorithms (visual and actuated joint controllers). Following sections describe a new visual control strategy specially designed to track and intercept objects in 3D space. The results are compared with a controller shown in previous woks, where the end effector of the robot keeps a constant distance from the tracked object. In this work, the controller is specially designed in order to allow changes in the tracking reference. Changes in the tracking reference can be used to grip an object that is under movement, or as in this case, hitting a hanging Ping-Pong ball. Lyapunov stability is taken into account in the controller design.

Idioma originalInglés
Título de la publicación alojada2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas5695-5701
Número de páginas7
ISBN (versión impresa)9781612848006
DOI
EstadoPublicada - 2011
Publicado de forma externa
Evento2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, Estados Unidos
Duración: 12 dic. 201115 dic. 2011

Serie de la publicación

NombreProceedings of the IEEE Conference on Decision and Control
ISSN (versión impresa)0743-1546
ISSN (versión digital)2576-2370

Conferencia

Conferencia2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
País/TerritorioEstados Unidos
CiudadOrlando, FL
Período12/12/1115/12/11

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