NDLI: Robust Visual Control of Parallel Robots under Uncertain Camera Orientation

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Robust Visual Control of Parallel Robots under Uncertain Camera Orientation

Content Provider	SAGE Publishing
Author	Trujano, Miguel A. Garrido, Rubén Soria, Alberto
Copyright Year	2012
Abstract	This work presents a stability analysis and experimental assessment of a visual control algorithm applied to a redundant planar parallel robot under uncertainty in relation to camera orientation. The key feature of the analysis is a strict Lyapunov function that allows the conclusion of asymptotic stability without invoking the Barbashin-Krassovsky-LaSalle invariance theorem. The controller does not rely on velocity measurements and has a structure similar to a classic Proportional Derivative control algorithm. Experiments in a laboratory prototype show that uncertainty in camera orientation does not significantly degrade closed-loop performance.
Related Links	https://journals.sagepub.com/doi/pdf/10.5772/51743?download=true
ISSN	17298806
Issue Number	4
Volume Number	9
Journal	International Journal of Advanced Robotic Systems (ARX)
e-ISSN	17298814
DOI	10.5772/51743
Language	English
Publisher	Sage Publications UK
Publisher Date	2017-05-15
Publisher Place	London
Access Restriction	Open
Rights Holder	© 2012 Trujano et al.; licensee InTech.
Subject Keyword	Visual Servoing Parallel Robot PD Control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Computer Science Applications Software

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