Visual servoing of a parallel robot system

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

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

    3 Citas (Scopus)


    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.

    Idioma originalInglés
    Título de la publicación alojada2007 European Control Conference, ECC 2007
    EditorialInstitute of Electrical and Electronics Engineers Inc.
    Número de páginas8
    ISBN (versión digital)9783952417386
    EstadoPublicada - 2007
    Evento2007 9th European Control Conference, ECC 2007 - Kos, Grecia
    Duración: 2 jul. 20075 jul. 2007

    Serie de la publicación

    Nombre2007 European Control Conference, ECC 2007


    Conferencia2007 9th European Control Conference, ECC 2007

    Nota bibliográfica

    Publisher Copyright:
    © 2007 EUCA.


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