DocumentCode :
2584635
Title :
Vision-based modeling and control of large-dimension cable-driven parallel robots
Author :
Dallej, Tej ; Gouttefarde, Marc ; Andreff, Nicolas ; Dahmouche, Redwan ; Martinet, Philippe
Author_Institution :
IFMA, Inst. Pascal, UBP, Clermont, France
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
1581
Lastpage :
1586
Abstract :
This paper is dedicated to vision-based modeling and control of large-dimension parallel robots driven by inextensible cables of non-negligible mass. An instantaneous inverse kinematic model devoted to vision is introduced. This model relies on the specificities of a parabolic profile hefty cable modeling and on the resulting simplified static analysis. By means of a kinematic visual servoing method, computer vision is used in the feedback loop for easier control. According to the modeling derived in this paper, measurements that allow the implementation of this visual servoing method consist of the mobile platform pose, the directions of the tangents to the cable curves at their drawing points and the cable tensions. The proposed visual servoing scheme will be applied to the control of a large parallel robot driven by eight cables. To this end, in order to obtain the aforementioned desired measurements, we plan to use a multi-camera setup together with force sensors.
Keywords :
cables (mechanical); force sensors; robot kinematics; robot vision; visual servoing; cable tensions; computer vision; feedback loop; force sensors; inextensible cables; instantaneous inverse kinematic model; kinematic visual servoing method; large-dimension cable-driven parallel robots; large-dimension parallel robots; mobile platform pose; multicamera setup; nonnegligible mass; parabolic profile hefty cable modeling; static analysis; vision-based control; vision-based modeling; visual servoing scheme; Bismuth; Cameras; Kinematics; Mobile communication; Vectors; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6385504
Filename :
6385504
Link To Document :
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