VISUALLY SERVOING A GOUGH-STEWART PARALLEL ROBOT ALLOWS FOR REDUCED AND LINEAR KINEMATIC CALIBRATION

Nicolas Andreff, Philippe Martinet

Abstract

This paper focuses on the benefits of using computer vision to control a Gough-Stewart parallel robot. Namely, it is recalled that observing the legs of such a mechanism with a calibrated camera, thus following the redundant metrology paradigm, simplifies the control law. Then, we prove in this paper that such a control law depends on a reduced set of kinematic parameters (only those attached to the geometry of the robot base) and that these parameters can be obtained by solving a linear system. Moreover, we show that the camera can be calibrated without much experimental effort, simply using images of the robot itself. All this means that setting up the control system consists only in placing the camera in front of the robot.

References

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Paper Citation


in Harvard Style

Andreff N. and Martinet P. (2005). VISUALLY SERVOING A GOUGH-STEWART PARALLEL ROBOT ALLOWS FOR REDUCED AND LINEAR KINEMATIC CALIBRATION . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 119-124. DOI: 10.5220/0001174301190124


in Bibtex Style

@conference{icinco05,
author={Nicolas Andreff and Philippe Martinet},
title={VISUALLY SERVOING A GOUGH-STEWART PARALLEL ROBOT ALLOWS FOR REDUCED AND LINEAR KINEMATIC CALIBRATION},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={119-124},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001174301190124},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - VISUALLY SERVOING A GOUGH-STEWART PARALLEL ROBOT ALLOWS FOR REDUCED AND LINEAR KINEMATIC CALIBRATION
SN - 972-8865-30-9
AU - Andreff N.
AU - Martinet P.
PY - 2005
SP - 119
EP - 124
DO - 10.5220/0001174301190124