High-speed visual servoing of PKMs

L. Ángel, A. Traslosheros, J. M. Sebastian, Pablo Lizardo Pari Pinto

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

In this paper a visual servoing architecture based on a parallel robot for the tracking of faster moving objects with unknown trajectories is proposed. The control strategy is based on the prediction of the future position and velocity of the moving object. The synthesis of the predictive control law is based on the compensation of the delay introduced by the vision system. Demonstrating by experiments, the high-speed parallel robot system has good performance in the implementation of visual control strategies with high temporary requirements.

Original languageEnglish
Title of host publication2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings
Pages2053-2058
Number of pages6
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE International Symposium on Industrial Electronics, ISIE 2007 - Caixanova - Vigo, Spain
Duration: 4 Jun 20077 Jun 2007

Publication series

NameIEEE International Symposium on Industrial Electronics

Conference

Conference2007 IEEE International Symposium on Industrial Electronics, ISIE 2007
Country/TerritorySpain
CityCaixanova - Vigo
Period4/06/077/06/07

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