An effective strategy of real-time vision-based control for a Stewart platform

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dc.contributor	Universitat Politècnica de Catalunya. Departament de Matemàtiques
dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria Minera, Industrial i TIC
dc.contributor	Universitat Politècnica de Catalunya. CoDAlab - Control, Modelització, Identificació i Aplicacions
dc.contributor	Universitat Politècnica de Catalunya. LRG - Lightning Research Group
dc.contributor	Universitat Politècnica de Catalunya. CIRCUIT - Grup de Recerca en Circuits i Sistemes de Comunicació
dc.contributor.author	Rossell Garriga, Josep Maria
dc.contributor.author	Vicente Rodrigo, Jesús
dc.contributor.author	Rubió Massegú, Josep
dc.contributor.author	Barcons Xixons, Víctor
dc.date	2018
dc.identifier.citation	Rossell, Josep M., Vicente-Rodrigo, Jesus, Rubió-Massegú, J., Barcons, V. An effective strategy of real-time vision-based control for a Stewart platform. A: IEEE International Conference on Industrial Technology. "Proceedings of the 2018 IEEE International Conference on Industrial Technology (ICIT), Lyon, France, 19-22 February 2018". 2018, p. 75-80.
dc.identifier.citation	978-1-5386-4053-1
dc.identifier.uri	http://hdl.handle.net/2117/114945
dc.language.iso	eng
dc.relation	http://proceedings.ieee-ies.org/icit18/
dc.relation	info:eu-repo/grantAgreement/ES/1PE/DPI2015-64170-R
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject	Parallel robots
dc.subject	Structural control (Engineering)
dc.subject	Stewart platform
dc.subject	Parallel robots
dc.subject	Inverse kinematics
dc.subject	Vision-based control
dc.subject	Tracking control
dc.subject	Robots en paral·lel
dc.subject	Control d'estructures (Enginyeria)
dc.subject	Classificació AMS::93 Systems Theory; Control
dc.title	An effective strategy of real-time vision-based control for a Stewart platform
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	© 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
dc.description.abstract	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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