Title :
Omnidirectional visual-servo of a Gough-Stewart platform
Author :
Tahri, Omar ; Mezouar, Youcef ; Andreff, Nicolas ; Martinet, Philippe
Author_Institution :
Univ. Blaise Pascal/IFMA, Aubiere
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
This work deals with the control by vision of the Gough-Stewart platform. For that, a central catadioptric camera is used to observe the platform legs. This allows to obtain a large field of view, and then avoids the occlusion problems observed when a classical perspective camera is used. The leg projections onto the catadioptric plane are used to determine their orientation in the camera frame. Finally, the computed orientations will be used in a visual servoing scheme of the platform effector.
Keywords :
hidden feature removal; robot vision; visual servoing; Gough-Stewart platform; catadioptric camera; occlusion; omnidirectional visual-servo; parallel robot; visual servoing; Cameras; Concurrent computing; Control systems; End effectors; Intelligent robots; Leg; Notice of Violation; Robot vision systems; Robustness; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399313
