Unifying Kinematic Modeling, Identification, and Control of a Gough-Stewart Parallel Robot Into a Vision-Based Framework

In this paper, it is shown that computer vision, used as an exteroceptive redundant metrology mean, simplifies the control of a Gough-Stewart parallel robot. Indeed, contrary to the usual methodology, where the robot is modeled independently from the control law which will be implemented, we take in...

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Bibliographic Details
Published in:IEEE transactions on robotics 2006-12, Vol.22 (6), p.1077-1086
Main Authors: Andreff, N., Martinet, P.
Format: Article
Language:English
Subjects:
Applied sciences
Automatic
Calibration
Computational geometry
Computer science
control theory
systems
Computer vision
Control system synthesis
Control theory. Systems
Engineering Sciences
Exact sciences and technology
Kinematics
Law
Leg
Legged locomotion
Legs
line geometry
Mathematical models
Metrology
Modelling and identification
parallel kinematics
Parallel robots
Projective geometry
Robot vision systems
Robotics
Robots
Solid modeling
visual servoing
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Summary:In this paper, it is shown that computer vision, used as an exteroceptive redundant metrology mean, simplifies the control of a Gough-Stewart parallel robot. Indeed, contrary to the usual methodology, where the robot is modeled independently from the control law which will be implemented, we take into account that vision will be used for control, from the early modeling stage. Hence, kinematic modeling and projective geometry are fused into a control-devoted projective kinematic model. Thus, a novel vision-based kinematic modeling of such a robot is proposed through the observation of its legs. Inspired by the geometry of lines, this model unifies and simplifies both identification and control. Indeed, it has a reduced parameter set, and allows us to propose a linear solution to its calibration. Using the same model, a visual servoing scheme is presented, where the attitudes of the nonrigidly linked legs are servoed, rather than the end-effector pose. Finally, theoretical results concerning the stability of this control law are provided
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2006.882931