Introduction to theoretical kinematics
Introduction to theoretical kinematics
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Parallel Robots
Do We Really Need an Accurate Calibration Pattern to Achieve a Reliable Camera Calibration?
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Image-based visual servo control of aerial robotic systems using linear image features
IEEE Transactions on Robotics
Kinematic Calibration of Parallel Mechanisms: A Novel Approach Using Legs Observation
IEEE Transactions on Robotics
IEEE Transactions on Robotics
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
Visual Control of Planar Parallel Robots Without Using Velocity Measurements
Journal of Intelligent and Robotic Systems
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In this paper, a tight coupling between computer vision and parallel robotics is exhibited through the projective line geometry. Indeed, contrary to the usual methodology where the robot is modeled independently from the control law that will be implemented, the proposed method takes into account, from the early modeling stage, the fact that vision will be used for control. Hence, kinematic modeling and projective geometry are fused into a control-devoted projective kinematic model. Thus, starting from a vision-based kinematic modeling of a Gough—Stewart manipulator, a visual servoing scheme is presented, where the image projection (edges) of the non-rigidly linked legs are servoed, rather than the end-effector pose or the leg directions.