TY - GEN
T1 - Visual servoing using a parallel robot
T2 - 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
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; 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 joints, its sample time is 0.5 ms. Second loop represents the visual servoing system, is external to the first mentioned and represents our study purpose, it is based on predicting the object velocity which is obtained form visual information, its sample time is 8.3 ms. The trajectory planner lets that the system achieves the target without exceeding the maximum acceleration and speed. 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; 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 joints, its sample time is 0.5 ms. Second loop represents the visual servoing system, is external to the first mentioned and represents our study purpose, it is based on predicting the object velocity which is obtained form visual information, its sample time is 8.3 ms. The trajectory planner lets that the system achieves the target without exceeding the maximum acceleration and speed. Lyapunov stability analysis, system delays and saturation components has been taken into account.
UR - http://www.scopus.com/inward/record.url?scp=48649097042&partnerID=8YFLogxK
U2 - 10.1109/AIM.2007.4412568
DO - 10.1109/AIM.2007.4412568
M3 - Ponencia publicada en las memorias del evento con ISBN
AN - SCOPUS:48649097042
SN - 1424412641
SN - 9781424412648
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
BT - 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Y2 - 4 September 2007 through 7 September 2007
ER -