Image-Based Visual Servoing of the I4R parallel robot without Proprioceptive Sensors
- 1 April 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 10504729,p. 1709-1714
Abstract
This paper proposes a method to control an I4R parallel robot by the observation of its legs with a calibrated camera. We show that the control law depends only on the edges of its forearms extracted from the image and that no proprioceptive sensors are used. Indeed, the variables needed for control (namely, the directions of the arms and forearms as well as the positions of the wrists) can be reconstructed from the forearms edges. Experimental validation of the reconstruction is given and simulation of the control with realistic noises is performed showing the validity of the approach.Keywords
This publication has 9 references indexed in Scilit:
- Image-based Visual Servoing of a Gough—Stewart Parallel Manipulator using Leg ObservationsThe International Journal of Robotics Research, 2007
- 3D Pose Visual Servoing Relieves Parallel Robot Control from Joint Sensing2006
- Vision-Based Control of a Gough-Stewart Parallel Mechanism using Legs Observation2006
- Position based visual servoing: keeping the object in the field of vision2003
- The On-Line Direct Kinematics of Parallel Manipulators Under Joint-Sensor Redundancy1998
- A tutorial on visual servo controlIEEE Transactions on Robotics and Automation, 1996
- A new approach to visual servoing in roboticsIEEE Transactions on Robotics and Automation, 1992
- Dynamic sensor-based control of robots with visual feedbackIEEE Journal on Robotics and Automation, 1987
- A Platform with Six Degrees of FreedomProceedings of the Institution of Mechanical Engineers, 1965