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RDF description of Vision-based Control of a Delta Parallel Robot via Linear Camera-Space Manipulation - http://orbis.uaslp.mx/vivo/individual/scopus4856
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Journal of Intelligent and Robotic Systems: Theory and Applications
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One of the open problems to control a parallel robot in real-time is the larger number of parameters to be incorporated in the control model when compared to serial robots. This paper presents an innovative vision-based method to control a delta-type parallel robot based on Linear Camera-Space Manipulation. The proposed method is a simple and robust technique capable of achieving real-time control of robots without relying on the calibration of either the robot or the environment parameters. To document the robustness of this technique, a sensitivity analysis was performed in simulation where the effect of two sources of error on the end-point positioning are considered. Such sources are the variability of each link’s parameters, and the uncertainty of the visual measurements. Experimental results on a Clavel’s delta parallel robot show that end-point positioning errors obtained with Linear Camera-Space Manipulation are less than 1.5 mm, demonstrating a low sensitivity to parameter uncertainty in qualitative agreement with the simulation results. The results show that the developed approach is advantageous to control parallel robots for industrial applications in real-time and can obviate to a number of open problems common with the control of parallel robots. © 2016, Springer Science%2bBusiness Media Dordrecht.
Vision-based Control of a Delta Parallel Robot via Linear Camera-Space Manipulation
CSM; Parallel robot; Robot control; Vision-based control Cameras; Computer vision; Point contacts; Real time control; Scattering parameters; Sensitivity analysis; Uncertainty analysis; Visual servoing; Delta parallel robot; Parallel robots; Robot controls; Robust technique; Space manipulation; Vision based control; Vision-based methods; Visual measurements; Robots
One of the open problems to control a parallel robot in real-time is the larger number of parameters to be incorporated in the control model when compared to serial robots. This paper presents an innovative vision-based method to control a delta-type parallel robot based on Linear Camera-Space Manipulation. The proposed method is a simple and robust technique capable of achieving real-time control of robots without relying on the calibration of either the robot or the environment parameters. To document the robustness of this technique, a sensitivity analysis was performed in simulation where the effect of two sources of error on the end-point positioning are considered. Such sources are the variability of each link’s parameters, and the uncertainty of the visual measurements. Experimental results on a Clavel’s delta parallel robot show that end-point positioning errors obtained with Linear Camera-Space Manipulation are less than 1.5 mm, demonstrating a low sensitivity to parameter uncertainty in qualitative agreement with the simulation results. The results show that the developed approach is advantageous to control parallel robots for industrial applications in real-time and can obviate to a number of open problems common with the control of parallel robots. © 2016, Springer Science Business Media Dordrecht.