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Visual Control of Planar Parallel Robots Without Using Velocity Measurements

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Abstract

This work proposes an image-based visual servoing scheme applied to a class of overactuated planar parallel robots with revolute joints. A Proportional Derivative algorithm computes torques for the robot active joints. The Derivative action operates at the joint level and the Proportional action works at the visual level. A linear filter provides velocity estimates from active joint position measurements, and Lyapunov Stability theory allows concluding closed loop stability. Experimental results on a laboratory prototype show that the proposed approach permits using higher gains compared with a control law relying on velocity estimates generated using visual measurements; moreover, these experiments also show that the closed loop system is robust in face of kinematic uncertainty.

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  1. Departamento de Control Automático, CINVESTA-IPN, Av. IPN 2508 San Pedro Zacatenco, México, 07360, Mexico

    Ruben Garrido & Alberto Soria

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  1. Ruben Garrido
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  2. Alberto Soria
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Correspondence to Ruben Garrido.

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Garrido, R., Soria, A. Visual Control of Planar Parallel Robots Without Using Velocity Measurements. J Intell Robot Syst 66, 111–124 (2012). https://doi.org/10.1007/s10846-011-9609-x

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  • DOI: https://doi.org/10.1007/s10846-011-9609-x

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