Stable visual servoing of an overactuated planar parallel robot

Trujano, Miguel A.; Garrido, R.; Soria, Alberto

doi:10.1109/iceee.2010.5608630

Cited by 3 publications

(2 citation statements)

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“…Finally, the stability analysis uses the Barbashin-Krassovsky-LaSalle theorem for concluding asymptotic stability. The present work takes the algorithm described in [48] under the assumption that only an estimate of the rotation matrix is known. Moreover, instead of relying on the Barbashin-Krassovsky-LaSalle invariance theorem, the stability analysis presented here employs a strict Lyapunov function, while the second Lyapunov method allows the conclusion of the asymptotic stability of the closed-loop system.…”

Section: Introductionmentioning

confidence: 99%

“…An alternative to adaptive controllers explored here is the use of an algorithm proposed in [48], similar to the classic Proportional Derivative (PD) control law; that algorithm shares the main features of the PD controller (i.e., tuning is relatively straightforward, the derivative action shapes the transient response and the proportional action sets the closed-loop bandwidth). Moreover, the computational burden associated to this controller is small and it is well-suited for set point tracking tasks.…”

Section: Introductionmentioning

confidence: 99%

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Robust Visual Control of Parallel Robots under Uncertain Camera Orientation

Trujano

Garrido

Soria

2012

International Journal of Advanced Robotic Systems

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This work presents a stability analysis and experimental assessment of a visual control algorithm applied to a redundant planar parallel robot under uncertainty in relation to camera orientation. The key feature of the analysis is a strict Lyapunov function that allows the conclusion of asymptotic stability without invoking the Barbashin-Krassovsky-LaSalle invariance theorem. The controller does not rely on velocity measurements and has a structure similar to a classic Proportional Derivative control algorithm. Experiments in a laboratory prototype show that uncertainty in camera orientation does not significantly degrade closed-loop performance.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Visual Control of Parallel Robots under Uncertain Camera Orientation

Trujano

Garrido

Soria

2012

International Journal of Advanced Robotic Systems

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Visual Control of Planar Parallel Robots Without Using Velocity Measurements

Garrido

Soria

2011

J Intell Robot Syst

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Visual Servoing and Kalman Filter Applied to Parallel Manipulator 3-RRR

Daraviña,

Valencia,

Holguin

et al. 2024

Electronics

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This study introduces a novel methodology integrating computer vision, visual servo control, and the Kalman Filter to precisely estimate object locations for a 3-RRR planar type parallel manipulator. Through kinematic analysis and the development of a vision system using color indicators, the research enhances the ability of the manipulator to track object trajectories, especially in cases of occlusion. Employing Eye-to-Hand visual servo control, the research further refines the visual orientation of the sensor for optimal end effector and object identification. The incorporation of the Kalman Filter as a robust estimator for occluded objects underscores the predictive accuracy of the system. Results demonstrate the effectiveness of the methodology in trajectory generation and object tracking, with potential implications for improving robotic manipulators in dynamic environments. This comprehensive approach not only advances the fields of kinematic control and visual servoing but also opens new avenues for future research in complex spatial manipulations.

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Stable visual servoing of an overactuated planar parallel robot

Cited by 3 publications

References 30 publications

Robust Visual Control of Parallel Robots under Uncertain Camera Orientation

Robust Visual Control of Parallel Robots under Uncertain Camera Orientation

Visual Control of Planar Parallel Robots Without Using Velocity Measurements

Visual Servoing and Kalman Filter Applied to Parallel Manipulator 3-RRR

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