Visual servoing of a planar overactuated parallel robot

Rubén Garrido; Alberto Soria; Gerardo Loreto

doi:10.1117/12.754578

8 October 2007 Visual servoing of a planar overactuated parallel robot

Rubén Garrido, Alberto Soria, Gerardo Loreto

Proceedings Volume 6719, Optomechatronic Systems Control III; 671903 (2007) https://doi.org/10.1117/12.754578
Event: International Symposium on Optomechatronic Technologies, 2007, Lausanne, Switzerland

Abstract

In this work a Proportional Derivative (PD) image-based visual servoing scheme applied to planar robot manipulators with revolute joints is proposed. Damping is added at the joint level using the robot active joints. The proposed control law may be though as a velocity inner loop at the joint level implementing the derivative action and a visual outer loop at the task level performing the proportional action. Since it is assumed that velocity measurements are not available, velocity estimates are obtained from active joint position measurements using a linear filter. Another feature of the proposed approach is the fact that calibration procedures for the vision system are avoided since an image-based approach is adopted. Closed loop stability is studied using Lyapunov Stability Theory. Experimental results on a laboratory prototype validates the proposed approach, moreover, it is also experimentally shown that by using a vision system for measurement of the robot end effector, kinematics errors may be tolerated in contrast with control strategies making use of the direct kinematics where performance depends on the precise knowledge of the robot kinematics.

Citation Download Citation

Rubén Garrido, Alberto Soria, and Gerardo Loreto "Visual servoing of a planar overactuated parallel robot", Proc. SPIE 6719, Optomechatronic Systems Control III, 671903 (8 October 2007); https://doi.org/10.1117/12.754578

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