Omnidirectional visual-servo of a Gough-Stewart platform

Authors:
O. Tahri;Y. Mezouar;N. Andreff;P. Martinet
Affiliations:
LASMEA, Blaise Pascal University, Aubière, France;LASMEA, Blaise Pascal University, Aubière, France;LASMEA, Blaise Pascal University, Aubière, France;LASMEA, Blaise Pascal University, Aubière, France
Venue:
IEEE Transactions on Robotics
Year:
2009

Citing 2
Cited 2

Image-based Visual Servoing of a Gough—Stewart Parallel Manipulator using Leg Observations

International Journal of Robotics Research
Unifying Kinematic Modeling, Identification, and Control of a Gough–Stewart Parallel Robot Into a Vision-Based Framework

IEEE Transactions on Robotics

On visual servoing based on efficient second order minimization

Robotics and Autonomous Systems
Visual Control of Planar Parallel Robots Without Using Velocity Measurements

Journal of Intelligent and Robotic Systems

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Abstract

This paper deals with the visual control of the Gough-Stewart platform using a central catadioptric camera observing the platform's legs. This allows a large field of view to be obtained and avoids the occlusion problems observed when a classical perspective camera is used. An automatic and simple method to detect the projections of the leg in the image is also proposed. The control scheme presented here is shown to encompass the classical perspective camera case, as well as catadioptric ones. Finally, experimental results comparing two kinds of visual features (leg directions and leg edges) are described.