Title :
Visual Servoing of Par4 using Leg Observation
Author :
Dallej, Tej ; Andreff, Nicolas ; Martinet, Philippe
Author_Institution :
LASMEA, Aubiere
Abstract :
In this paper, the original approach is proposed for the vision-based control of Par4 parallel robot. Observing the mechanism legs with a calibrated camera vision simplifies the control law based on the geometry of lines and the image projection of cylindrical legs. The method is illustrated and validated on a Par4 platform simulation
Keywords :
robot vision; visual servoing; Par4; camera vision; image projection; leg observation; parallel robot; vision-based control; visual servoing; Cameras; Computational geometry; Error correction; Kinematics; Leg; Legged locomotion; Parallel robots; Robot vision systems; Robust control; Visual servoing;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347455
