INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Visual servoing of a parallel robot system
Autor/es:
ALBERTO TRASLOHEROS; JOSÉ MARÍA SEBASTIÁN; LUIS ANGEL; FLAVIO ROBERTI; RICARDO CARELLI
Lugar:
Alcalá de Henares, Madrid
Reunión:
Simposio; IEEE International Symposium on Intelligent Signal Processing, WISP 2007; 2007
Institución organizadora:
IEEE
Resumen:
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.
