NDLI: 3D Pose Visual Servoing Relieves Parallel Robot Control from Joint Sensing

Content Provider	IEEE Xplore Digital Library
Author	Tej Dallej Andreff, N. Mezouar, Y. Martinet, P.
Copyright Year	2006
Description	Author affiliation: LASMEA, Univ. Blaise Pascal, Aubiere (Tej Dallej; Andreff, N.; Mezouar, Y.; Martinet, P.)
Abstract	In this paper, we show that visual feedback reduces the complexity of parallel robot Cartesian control. Namely, 3D pose visual servoing, where the end-effector pose is indirectly measured and used for regulation, is shown to be well suited to this task since it relieves the control from the difficult forward kinematic problem. Moreover, this complexity reduction is not coming with an increase of the implementation complexity since off-the-shelf hardware and software are now available for visual servoing. It is also shown that such a control gets rid of joint sensors. All this makes 3D pose visual servoing the most straightforward Cartesian control for parallel robots. Experimental results are provided using an open source visual servoing C++ library
Starting Page	4291
Ending Page	4296
File Size	397748
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281959
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Parallel robots Robot control Kinematics Orbital robotics Control systems Intelligent robots Robot sensing systems Motion control Switches
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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