학술논문
Visual Servoing of a Parallel Robot System
Document Type
Conference
Source
2007 IEEE International Symposium on Intelligent Signal Processing Intelligent Signal Processing, 2007. WISP 2007. IEEE International Symposium on. :1-6 Oct, 2007
Subject
Language
Abstract
This paper describes the visual control of a parallel robot called "RoboTenis". The system has been designed and built in order to carry out tasks in three dimensions and dynamical environments, thus the system is capable to interact with objects which move up to 1m/s. The control strategy is composed by two intertwined control loops: The internal loop is faster and considers the information from the joins, its sample time is 0.5 ms. Second loop represents the visual servoing system which is external loop to the first mentioned, second loop represents the study purpose, that it is based in the prediction of the object velocity which is obtained form visual information and its sample time is 8.3 ms. Lyapunov stability analysis, system delays and saturation components has been taken into account.