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Parallel Robot High Speed Object Tracking

  • J. M. Sebastián
  • A. Traslosheros
  • L. Ángel
  • F. Roberti
  • R. Carelli
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4633)

Abstract

This paper describes the visual control of a parallel robot called “RoboTenis”. The system has been designed and built in order to carry out tasks in three dimensions and dynamical environments; the system is capable to interact with objects which move up to 1m/s. The control strategy is composed by two intertwined control loops: The internal loop is faster and considers the information from the joints, its sample time is 0.5 ms. Second loop represents the visual servoing system, is external to the first mentioned and represents our study purpose, it is based on predicting the object velocity which is obtained form visual information, its sample time is 8.3 ms. Lyapunov stability analysis, system delays and saturation components has been taken into account.

Keywords

Parallel robot visual control strategies tracking system stability 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • J. M. Sebastián
    • 1
  • A. Traslosheros
    • 1
  • L. Ángel
    • 2
  • F. Roberti
    • 3
  • R. Carelli
    • 3
  1. 1.Universidad Politécnica de MadridEspaña
  2. 2.Universidad Pontificia Bolivariana, BucaramangaColombia
  3. 3.Universidad Nacional de San JuanArgentina

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