Image-based Visual Servoing of a Gough—Stewart Parallel Manipulator using Leg Observations
International Journal of Robotics Research
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Omnidirectional visual-servo of a Gough-Stewart platform
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
Online robot calibration based on vision measurement
Robotics and Computer-Integrated Manufacturing
Hi-index | 0.00 |
In this paper, it is shown that computer vision, used as an exteroceptive redundant metrology mean, simplifies the control of a Gough-Stewart parallel robot. Indeed, contrary to the usual methodology, where the robot is modeled independently from the control law which will be implemented, we take into account that vision will be used for control, from the early modeling stage. Hence, kinematic modeling and projective geometry are fused into a control-devoted projective kinematic model. Thus, a novel vision-based kinematic modeling of such a robot is proposed through the observation of its legs. Inspired by the geometry of lines, this model unifies and simplifies both identification and control. Indeed, it has a reduced parameter set, and allows us to propose a linear solution to its calibration. Using the same model, a visual servoing scheme is presented, where the attitudes of the nonrigidly linked legs are servoed, rather than the end-effector pose. Finally, theoretical results concerning the stability of this control law are provided