DocumentCode
2362836
Title
Visual Servoing of Par4 using Leg Observation
Author
Dallej, Tej ; Andreff, Nicolas ; Martinet, Philippe
Author_Institution
LASMEA, Aubiere
fYear
2006
fDate
6-10 Nov. 2006
Firstpage
3782
Lastpage
3787
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;
fLanguage
English
Publisher
ieee
Conference_Titel
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location
Paris
ISSN
1553-572X
Print_ISBN
1-4244-0390-1
Type
conf
DOI
10.1109/IECON.2006.347455
Filename
4152951
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