Global regulation of robots using only position measurements
Systems & Control Letters
Visual Control of Robots: High-Performance Visual Serving
Visual Control of Robots: High-Performance Visual Serving
Robot Dynamics and Control
Parallel Robots
Image-based Visual Servoing of a Gough—Stewart Parallel Manipulator using Leg Observations
International Journal of Robotics Research
Improved Image Based Visual Servoing with Parallel Robot
Journal of Intelligent and Robotic Systems
Omnidirectional visual-servo of a Gough-Stewart platform
IEEE Transactions on Robotics
3D pose and velocity visual tracking based on sequential region of interest acquisition
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On visual servoing based on efficient second order minimization
Robotics and Autonomous Systems
IEEE Transactions on Robotics
Parallel robot high speed object tracking
ICIAR'07 Proceedings of the 4th international conference on Image Analysis and Recognition
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This work proposes an image-based visual servoing scheme applied to a class of overactuated planar parallel robots with revolute joints. A Proportional Derivative algorithm computes torques for the robot active joints. The Derivative action operates at the joint level and the Proportional action works at the visual level. A linear filter provides velocity estimates from active joint position measurements, and Lyapunov Stability theory allows concluding closed loop stability. Experimental results on a laboratory prototype show that the proposed approach permits using higher gains compared with a control law relying on velocity estimates generated using visual measurements; moreover, these experiments also show that the closed loop system is robust in face of kinematic uncertainty.