An effective strategy of real-time vision-based control for a Stewart platform

Rossell, Josep M.; Rodrigo, Jesús Vicente; Massegú, Josep Rubió; Barcons, Victor

doi:10.1109/icit.2018.8352155

Cited by 5 publications

(3 citation statements)

References 13 publications

(13 reference statements)

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“…Recently, the real-time vision-based control, the analysis and the real-time trajectory tracking control validated on a real parallel robots, e.g. [45][46][47] , have attracted more interests. In the kinematic modeling of the Par4 robot shown in Table V, one needs to estimate points A 1 1i .…”

Section: Resultsmentioning

confidence: 99%

Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

2018

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SUMMARYThis paper deals with a generic modeling and vision-based control approach for a broad class of parallel mechanisms. First, a generic architecture representing several families is proposed. Second, inspired by the geometry of lines, a generic differential inverse kinematic model according to the proposed generic structure is introduced. Finally, based on the image projection of cylindrical legs, a kinematic vision-based control using legs observation is presented. The approach is illustrated and validated on the Gough–Stewart and Par4 parallel robots.

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Section: Resultsmentioning

confidence: 99%

Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

2018

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“…The results show the ability of the proposed approach to maintain the ball in the desired position despite the significant variations of the mathematical model. Similarly Rossel et al [3] concentrated on the problems encountered in the real-time vision-based control as well as the assembly imperfection of the built 6-DOF Stewart platform that was controlled by a PD controller. The findings demonstrate that the proposed controller has a good tracking performance.…”

Section: Introductionmentioning

confidence: 99%

ANFIS multi-tasking algorithm implementation scheme for ball-on-plate system stabilization

Hadoune

Benouaret

2022

IJEEI

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This paper presents the design and realization of a ball-on-plate system using a 3-degree-of-freedom parallel robot controlled by an adaptive neuro-fuzzy inference system. The ball-on-plate system is nonlinear, multivariable, with an under-actuated feature. Initially, the parallel robot is designed using SolidWorks and mechanized using a computer numerical control machine. Followed by the presentation of the ball-on-plate system mathematical model and the simplified model obtained. Afterwards, the inverse kinematics are performed to derive the appropriate angle for each servomotor. Eventually, the controller is designed and implemented in a double loop feedback scheme. A comparison between the proposed controller and a conventional proportionalintegral-derivative controller in terms of time response, overshoot, and steadystate error is carried out. Furthermore, a comparison between sequential and asynchronous parallel processing is conducted for two different scenarios. The first scenario is when moving the ball to the origin while the second is for disturbance rejection. Simulation and experimental results show that the adaptive neuro-fuzzy inference system implemented using asynchronous parallel processing improves the real-time system stability by considerably decreasing oscillations as well as enhancing the ball movement smoothness with a small stead-state error.

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“…The development of artificial intelligence technology has aroused great interest in the research on vision-based robot manipulators for autonomous and intelligent operations/tasks during interacting with the dynamic environments [1], such as with human, robots or other automation equipment. In the process of the operations/tasks, real-time motion planning for vision-based robot manipulators not only ensures the safe and collision-free motion but also plans the smooth trajectories to avoid the system chattering that may seriously damage the actuators and degrade the tracking performance of robot [2,3]. Furthermore, smooth trajectories can be executed faster and with a higher accuracy, and make vision-based robot manipulators complete operations /tasks with higher quality in dynamic environments.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Joint Angular-Acceleration Planning for Vision-Based Kinematically Redundant Manipulator in Dynamic Environment

Zhang

Jin

et al. 2020

IEEE Access

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This paper presents an angular acceleration planning for joint configuration spaces of visionbased kinematically redundant robot manipulators to achieve real-time tracking tasks in dynamic environment. In accordance with the proved proposition, the joint velocity formed by the inverse kinematics mapping of the defined pose error is regarded as the system error, and utilized to further deduce the planned joint angular acceleration and with kinematic redundancy for obstacle avoidance simultaneously. Highly-complex nonlinearities in the angular acceleration are equivalent to a system perturbation represented by a synthetic form, thereby simplifying the tedious calculations of the angular acceleration theoretically and converting the planning problem into a control problem. Hyperbolic tangent-based super twisting algorithm, as the control input of manipulator system, is designed to resist the synthetic perturbation. The collision-free movement of redundant manipulators for tracking tasks is thus achieved through the integration of the control input in real time. An errorbased S-function is proposed as the internal parameter of the planned joint acceleration to prevent the integral saturation. Lyapunov theoretical analysis proves the stability of the proposed super twisting algorithm. Simulation and contrast experiments in dynamic-obstacles environments indicate that the proposed joint angular acceleration planning for kinematically redundant manipulators owns feasibility, smoothness and practicability.

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An effective strategy of real-time vision-based control for a Stewart platform

Cited by 5 publications

References 13 publications

Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

ANFIS multi-tasking algorithm implementation scheme for ball-on-plate system stabilization

Real-Time Joint Angular-Acceleration Planning for Vision-Based Kinematically Redundant Manipulator in Dynamic Environment

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