TY - GEN
T1 - Visual servoing for the Robotenis system
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
AU - Traslosheros, Alberto
AU - Sebastian, Jose Maria
AU - Angel, Luis
AU - Roberti, Flavio
AU - Carelli, Ricardo
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84860685265&partnerID=8YFLogxK
U2 - 10.1109/CDC.2011.6161242
DO - 10.1109/CDC.2011.6161242
M3 - Ponencia publicada en las memorias del evento con ISBN
AN - SCOPUS:84860685265
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5695
EP - 5701
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 12 December 2011 through 15 December 2011
ER -