Design of a Gough–Stewart Platform Based on Visual Servoing Controller

Abstract

Designing a robot with the best accuracy is always an attractive research direction in the robotics community. In order to create a Gough–Stewart platform with guaranteed accuracy performance for a dedicated controller, this paper describes a novel advanced optimal design methodology: control-based design methodology. This advanced optimal design method considers the controller positioning accuracy in the design process for getting the optimal geometric parameters of the robot. In this paper, three types of visual servoing controllers are applied to control the motions of the Gough–Stewart platform: leg-direction-based visual servoing, line-based visual servoing, and image moment visual servoing. Depending on these controllers, the positioning error models considering the camera observation error together with the controller singularities are analyzed. In the next step, the optimization problems are formulated in order to get the optimal geometric parameters of the robot and the placement of the camera for the Gough–Stewart platform for each type of controller. Then, we perform co-simulations on the three optimized Gough–Stewart platforms in order to test the positioning accuracy and the robustness with respect to the manufacturing errors. It turns out that the optimal control-based design methodology helps get both the optimum design parameters of the robot and the performance of the controller {robot + dedicated controller}.

Real Coded Mixed Integer Genetic Algorithm for Geometry Optimization of Flight Simulator Mechanism Based on Rotary Stewart Platform

“…The motion monitoring system for the Stewart platform is presented in paper [62], and it can be used for verification. There are also vision-based control systems, as described in [63] that can also be used for monitoring and verification of motion.…”

A Novel Architecture of a Six Degrees of Freedom Parallel Platform

“…The parallel platform involves theoretical mechanics, statics, dynamics, mechanical engineering, control theory, electronic engineering, computer science, and other disciplines, and has great academic research value [14][15][16][17]. Most research on parallel platforms focus on the theoretical calculation and simulation of kinematics, dynamics, and controller [18][19][20][21].…”

Parallel Image-Based Visual Servoing/Force Control of a Collaborative Delta Robot

“…To overcome this problem, we need to find an alternative way to bypass the complex parallel robot architectures. Visual servoing is a type of an external sensor-based controller which takes one or several cameras as external sensors and closes the control loop with the vision feedback (Chaumette and Hutchinson, 2006 ; Chaumette et al, 2016 ; Fu et al, 2021 ; Zhu et al, 2022 ). With this controller, the pose of the robot can be directly estimated from the camera and we can bypass the complex calculation of the direct kinematic model.…”