TY - GEN
T1 - Visual servoing of a parallel robot system
AU - Traslosheros, A.
AU - Sebastián, J. M.
AU - Ángel, L.
AU - Roberti, F.
AU - Carelli, R.
PY - 2007
Y1 - 2007
N2 - 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.
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.
KW - Parallel robot
KW - System stability
KW - Tracking
KW - Visual control strategies
UR - http://www.scopus.com/inward/record.url?scp=51149109545&partnerID=8YFLogxK
U2 - 10.1109/WISP.2007.4447643
DO - 10.1109/WISP.2007.4447643
M3 - Ponencia publicada en las memorias del evento con ISBN
AN - SCOPUS:51149109545
SN - 142440830X
SN - 9781424408306
T3 - 2007 IEEE International Symposium on Intelligent Signal Processing, WISP
BT - 2007 IEEE International Symposium on Intelligent Signal Processing, WISP
T2 - 2007 IEEE International Symposium on Intelligent Signal Processing, WISP
Y2 - 3 October 2007 through 5 October 2007
ER -