INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Visual Servoing using a Parallel Robot: Preliminary Results
Autor/es:
LUIS ANGEL; JOSÉ MARÍA SEBASTIÁN; ALBERTO TRASLOSHEROS; FLAVIO ROBERTI; RICARDO CARELLI
Lugar:
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 07
Reunión:
Conferencia; IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 07; 2007
Institución organizadora:
IEEE/ASME
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; 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 joints, its sample time is 0.5 ms. Second loop represents the visual servoing system, is external to the first mentioned and represents our study purpose, it is based on predicting the object velocity which is obtained form visual information, its sample time is 8.3 ms. The trajectory planner lets that the system achieves the target without exceeding the maximum acceleration and speed. Lyapunov stability an lysis, system delays and saturation components has been taken into account.
