Unifying kinematic modeling, identification, and control of a Gough-Stewart parallel robot into a vision-based framework

被引:36
作者
Andreff, Nicolas [1 ]
Martinet, Philippe [1 ]
机构
[1] Univ Blaise Pascal, IFMA, CNRS, LASMEA, F-63175 Aubiere, France
关键词
computer vision; line geometry; parallel kinematics; visual servoing;
D O I
10.1109/TRO.2006.882931
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
In this paper, it is shown that computer vision, used as an exteroceptive redundant metrology mean, simplifies the control of a Gough-Stewart parallel robot. Indeed, contrary to the usual methodology, where the robot is modeled independently from the control law which will be implemented, we take into account that vision will be used for control, from the early modeling stage. Hence, kinematic modeling and projective geometry are fused into a control-devoted projective kinematic model. Thus, a novel vision-based kinematic modeling of such a robot is proposed through the observation of its legs. Inspired by the geometry of lines, this model unifies and simplifies both identification and control. Indeed, it has a reduced parameter set, and allows us to propose a linear solution to its calibration. Using the same model, a visual servoing scheme is presented, where the attitudes of the nonrigidly linked legs are servoed, rather than the end-effector pose. Finally, theoretical results concerning the stability of this control law are provided.
引用
收藏
页码:1077 / 1086
页数:10
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