Abstract
This work is a synthesis of our experience over parallel kinematic machine control, which aims at changing the standard conceptual approach to this problem. Indeed, since the task space, the state space and the measurement space can coincide in this class of mechanisms, we came to redefine the complete modelling, identification and control methodology. Thus, it is shown in this paper that, generically and with the help of sensor-based control, this methodology does not require any joint measurement, thus opening a path to simplified mechanical design and reducing the number of kinematic parameters to identify. This novel approach is illustrated on the reference parallel kinematic mechanism (the Gough–Stewart platform) with vision as the exteroceptive sensor.
Similar content being viewed by others
References
Ait-Aider O, Andreff N, Lavest J, Martinet P (2006) Simultaneous object pose and velocity computation using a single view from a rolling shutter camera. In: Proceedings of the 9th European Conference on Computer Vision, ECCV’06, Graz, Austria, vol 2. pp 56–68
Andreff N, Martinet P (2006) Unifying kinematic modeling, identification and control of a Gough–Stewart parallel robot into a vision-based framework. IEEE Trans Robotics 22(6): 1077–1086
Andreff N, Martinet P (2007) Vision-based self-calibration and control of parallel kinematic mechanisms without proprioceptive sensing. In: Proceedings of the 13th international conference on advanced robotics, ICAR’07. Jeju, South Korea
Andreff N, Dallej T, Martinet P (2007) Image-based visual servoing of a Gough–Stewart parallel manipulator using leg observations. Int J Robotics Res Special Issue Vis Robotics—Joint with the Int J Comput Vis 26(7): 677–687
Baron L, Angeles J (2000) The direct kinematics of parallel manipulators under joint-sensor redundancy. IEEE Trans Robotics Autom 16(1): 1–8
Chablat D, Wenger P (1998) Working modes and aspects in fully-parallel manipulators. In: Proceedings of the 1998 IEEE interantional conference on robotics and automation, Leuven, Belgium. pp 1964–1969
Clavel R (1991) Conception d’un robot parallèle rapide à 4 degrés de liberté. Dissertation, EPFL, Lausanne
Corbel D (2008) Contribution à l’amélioration de la précision des robots parallèles. Thèse de doctorat, Université Montpellier II
Dallej T, Andreff N, Martinet P (2006) 3D pose visual servoing is the canonical choice for the Cartesian control of parallel robots. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems, IROS’06, Beijing, China
Daney D (1999) Self calibration of Gough platform using leg mobility constraints. In: World congress on the theory of machine and mechanisms, Oulu, Finland. pp 104–109
Daney D, Emiris I (2001) Variable elimination for reliable parallel robot calibration. In: 2nd Workshop on computational kinematics (CK2001), Korea. pp 133–144
Gough V, Whitehall S (1962) Universal tyre test machine. In: Proceedings of FISITA 9th international technical congress. pp 117–137
Khalil W, Dombre E (2002) Modeling, identification and control of robots. Taylor and Francis, London
Malis E, Chaumette F, Boudet S (1999) 2 1/2 d visual servoing. IEEE Trans Robotics Autom 12: 238–250
Marquet F, Company O, Krut S, Pierrot F (2002) Enhancing parallel robots accuracy with redundant sensors. In: Proceedings of the 2002 international conference on robotics and automation, Washington, Washington DC
Merlet J (2000) Parallel robots. Kluwer, Dordrecht
Merlet JP (1993) Closed-form resolution of the direct kinematics of parallel manipulators using extra sensors data. In: IEEE international conference on robotics and automation (ICRA’93), Atlanta. pp 200–204
Ruf A, Horaud R (1999) Visual servoing of robot manipulators, part I: projective kinematics. Int J Robotics Res 18(11): 1101–1118
Samson C, Le Borgne M, Espiau B (1991) Robot Control: the Task Function Approach. Clarendron Press, Oxford University Press, Oxford
Stewart D (1965) A platform with six degrees of freedom. In: Proceedings of IMechE (London), vol 180. pp 371–386
Stoughton R, Arai T (1991) Optimal sensor placement for forward kinematics evaluation of a 6-dof parallel link manipulator. In: IEEE Int. Conf. on Intelligent Robots and Systems (IROS’91), Osaka. pp 785–790
Thuilot B, Martinet P, Cordesses L, Gallice J (2002) Position based visual servoing: keeping the object in the field of vision. In: Proceedings of the 2002 IEEE international conference on robotics and automation
Waldron K, Hunt K (1991) Series-parallel dualities in actively coordinated mechanisms. Int J Robotics Res 10(5): 473–480
Wampler C, Hollerbach J, Arai T (1995) An implicit loop method for kinematic calibration and its application to closed-chain mechanisms. IEEE Trans Robotics Autom 11(5): 710–724
Wilson W, Hulls C, Bell G (1996) Relative end-effector control using cartesian position-based visual servoing. IEEE Trans Robotics Autom 12(5): 684–696
Zhuang H, Yan J, Masory O (1998) Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals. J Robotic Syst 15(7): 395–405
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was supported by European Community through the Integrated Project NEXT number 0011815. It was initially published in the Proceedings of the 13th International Conference on Advanced Robotics (ICAR’07), Jeju, Korea, 21–24 August 2007 [3]. During this work, Philippe Martinet was holding a visiting professor position at the Intelligent Service Robotics Center at Sungkyunkwan University, Suwon, South Korea.
Rights and permissions
About this article
Cite this article
Andreff, N., Martinet, P. Vision-based self-calibration and control of parallel kinematic mechanisms without proprioceptive sensing. Intel Serv Robotics 2, 71–80 (2009). https://doi.org/10.1007/s11370-009-0034-y
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11370-009-0034-y