Recent advances in vision devices and image processing has allowed to integrate vision sensors into the control architecture of robot systems to include information regarding robot’s environment: in this case the feedback loop handles operational space variables based on a real time estimation of the end-effector pose obtained by means of an elaboration of visual measurements. The paper presents an application of visual servoing on a 3-CPU translational parallel manipulator with a camera mounted directly on the moving platform, in the so-called eye-in-hand configuration. After an introductory description of the robot and of the control and vision hardware, the calibration process of the camera is explained and a PD controller with gravity compensation is presented.
Visual based control system of a 3-CPU translational parallel manipulator
PALPACELLI, MATTEO CLAUDIO;PALMIERI, GIACOMO
2008-01-01
Abstract
Recent advances in vision devices and image processing has allowed to integrate vision sensors into the control architecture of robot systems to include information regarding robot’s environment: in this case the feedback loop handles operational space variables based on a real time estimation of the end-effector pose obtained by means of an elaboration of visual measurements. The paper presents an application of visual servoing on a 3-CPU translational parallel manipulator with a camera mounted directly on the moving platform, in the so-called eye-in-hand configuration. After an introductory description of the robot and of the control and vision hardware, the calibration process of the camera is explained and a PD controller with gravity compensation is presented.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
