Vision-Based Control of a Gough-Stewart Parallel Mechanism using Legs Observation

Andreff, Nicolas; Marchadier, Arnaud; Martinet, Philippe

doi:10.1109/robot.2005.1570494

Cited by 23 publications

(61 citation statements)

References 28 publications

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“…However, for example using a camera, the leg directions are not directly measured but rebuilt from the observation of the legs limbs projection in the 2D camera space [6]. Thus, for the leg reconstruction, the mapping between the camera space and the real 3D space is involved, and it is not free of singularities (see [19] for an example of mapping singularities).…”

Section: B Discussionmentioning

confidence: 99%

“…It can be proved that matrix M T i is of rank 2 [6]. As a result, a minimum of two independent legs is necessary to control the end-effector pose.…”

Section: B Kinematics Of the The Quattro Using Leg Observationmentioning

confidence: 99%

“…A first step in this direction was made in [6] where vision was used to derive a visual servoing scheme based on the observation of a Gough-Stewart (GS) parallel robot [7]. In that method, the leg directions were chosen as visual primitives and control was derived based on their reconstruction from the image.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Rosenzveig

Briot²,

Martinet

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Previous works on the Gough-Stewart (GS) platform have shown that its visual servoing using the observation of its leg directions was possible by observing only three of its six legs but that the convergence to the desired pose was not guarantied. This can be explained by considering that the visual servoing of the leg direction of the GS platform was equivalent to controlling another robot, the 3-UPS that has assembly modes and singular configurations different from those of the GS platform. Considering this hidden robot model allowed the simplification of the singularity analysis of the mapping between the leg direction space and the Cartesian space.In this paper, the work on the definition of the hidden robot models involved in the visual servoing using the observation of the robot leg directions is extended to another robot, the Adept Quattro. It will be shown that the hidden robot model is completely different from the model involved in the control of the GS platform. Therefore, the results obtained for the GS platform are not valuable for this robot. The hidden robot has assembly modes and singular configurations different from those of the Quattro. An accuracy analysis is performed to show the importance of the leg selection. All these results are validated on a Quattro simulator created using ADAMS/Controls and interfaced with Matlab/Simulink.

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Section: B Discussionmentioning

confidence: 99%

“…It can be proved that matrix M T i is of rank 2 [6]. As a result, a minimum of two independent legs is necessary to control the end-effector pose.…”

Section: B Kinematics Of the The Quattro Using Leg Observationmentioning

confidence: 99%

See 1 more Smart Citation

Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Rosenzveig

Briot²,

Martinet

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…To overcome these problems, a new way to use vision which gathers the advantages of redundant metrology [9], [10] and of visual servoing is presented in [11]. This method proposes to control by vision the well-known six DOF Gough-Stewart platform [12], [13].…”

Section: Introductionmentioning

confidence: 99%

Image-Based Visual Servoing of the I4R parallel robot without Proprioceptive Sensors

Dallej¹,

Andreff

Martinet

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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This paper proposes a method to control an I4R parallel robot by the observation of its legs with a calibrated camera. We show that the control law depends only on the edges of its forearms extracted from the image and that no proprioceptive sensors are used. Indeed, the variables needed for control (namely, the directions of the arms and forearms as well as the positions of the wrists ) can be reconstructed from the forearms edges. Experimental validation of the reconstruction is given and simulation of the control with realistic noises is performed showing the validity of the approach.

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“…The following sections describe how to create machine vision and image processing algorithms by using LabVIEW Vision Assistant Module together with a Vision Real-Time Module [13]. In order to set up the camera, the following steps have been taken:…”

Section: B Camera Set Upmentioning

confidence: 99%

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

Rossell

Rodrigo

Massegú

et al. 2018

2018 IEEE International Conference on Industrial Technology (ICIT)

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Abstract-A Stewart platform is a kind of parallel robot which can be used for a wide variety of technological and industrial applications. In this paper, a Stewart platform designed and assembled at the Universitat Politècnica de Catalunya (UPC) by our research group is presented. The main objective is to overcome the enormous difficulties that arise when a realtime vision-based control of a fast moving object placed on these mechanisms is required. In addition, a description of its geometric characteristics, the calibration process, together with an illustrative experiment to demonstrate the good behavior of the platform is given.

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Vision-Based Control of a Gough-Stewart Parallel Mechanism using Legs Observation

Cited by 23 publications

References 28 publications

Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Image-Based Visual Servoing of the I4R parallel robot without Proprioceptive Sensors

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

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