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Title:
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An effective strategy of real-time vision-based control for a Stewart platform
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Author:
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Rossell Garriga, Josep Maria; Vicente Rodrigo, Jesús; Rubió Massegú, Josep; Barcons Xixons, Víctor
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Other authors:
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Universitat Politècnica de Catalunya. Departament de Matemàtiques; Universitat Politècnica de Catalunya. Departament d'Enginyeria Minera, Industrial i TIC; Universitat Politècnica de Catalunya. CoDAlab - Control, Modelització, Identificació i Aplicacions; Universitat Politècnica de Catalunya. LRG - Lightning Research Group; Universitat Politècnica de Catalunya. CIRCUIT - Grup de Recerca en Circuits i Sistemes de Comunicació |
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Abstract:
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© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works |
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Abstract:
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A Stewart platform is a kind of parallel robot which can be used for a wide variety of technological and industrial applications. In this paper, a Stewart platform designed and assembled at the Universitat Polit`ecnica de Catalunya (UPC) by our research group is presented. The main objective is to overcome the enormous difficulties that arise when a real-time vision-based control of a fast moving object placed on these mechanisms is required. In addition, a description of its
geometric characteristics, the calibration process, together with an illustrative experiment to demonstrate the good behavior of the platform is given. |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Àrees temàtiques de la UPC::Informàtica::Automàtica i control
-Parallel robots
-Structural control (Engineering)
-Stewart platform
-Parallel robots
-Inverse kinematics
-Vision-based control
-Tracking control
-Robots en paral·lel
-Control d'estructures (Enginyeria)
-Classificació AMS::93 Systems Theory; Control |
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Rights:
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Document type:
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Article - Submitted version
Conference Object |
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