Vision-Based Control of the RoboTenis System

LUIS ANGEL; ALBERTOTRASLOSHEROS; JOSÉ MARÍA SEBASTIÁN; LUIS PARI; FLAVIO ROBERTI; RICARDO CARELLI

Jeju, Korea

Conferencia; 13th International Conference on Advanced Robotics (ICAR’07); 2007

In this paper a visual servoing architecture based on a parallel robot for the tracking of faster moving objects with unknown trajectories is proposed. The control strategy is based on the prediction of the future position and velocity of the moving object. The synthesis of the predictive control law is based on the compensation of the delay introduced by the vision system. Demonstrating by experiments, the high-speed parallel robot system has good performance in the implementation of visual control strategies with high temporary requirements.