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Descripción
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| This article describes a new visual servo control and strategies that are utilized to carry out dynamic tasks by the platform Robotenis. This platform is basically a parallel robot that is equipped with an acquisition and processing system of visual information. Its main feature is that it has a completely open architecture control and planned in order to design, implement, test and compare control strategies and algorithms (visual and actuated joint controllers). Following sections describe a new visual control strategy specially designed to track and intercept objects in 3D space. Results are compared with a controller shown in previous works, where the end effector of the robot keeps a constant distance from the tracked object. In this work the controller is specially designed in order to allow changes the tracking reference. Changes in the tracking reference can be utilized to grip an object that is under movement or as in this case, hitting a hanging Ping-Pong ball. Lyapunov stability is taken into account in the controller design. | |
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Internacional
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DOI
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Edición del Libro
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0 |
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Editorial del Libro
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ISBN
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978-84-693-6777-3 |
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Serie
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Título del Libro
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Visión en Robótica |
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Desde página
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255 |
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Hasta página
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271 |