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Visual PID Control of a Redundant Planar Parallel Robot

[+] Author Affiliations
M. A. Trujano, R. Garrido, A. Soria

CINVESTAV-IPN, Mexico City, Mexico

Paper No. DETC2011-47201, pp. 589-598; 10 pages
doi:10.1115/DETC2011-47201
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME

abstract

This paper deals with the position regulation problem of a redundant planar parallel robot for the case in which only the joint position measurements are available, and presents an image based visual servoing scheme to solve this problem. It uses Proportional Integral and Derivative algorithm to compute the torques for the robot active joints together a linear filter to obtain velocity estimates from visual position measurements and shows that the robot end-effector converges to the desired position. Lyapunov Stability Theory allows concluding closed loop stability without invoking the LaSalle-Krassovsky invariance principle. Experimental results are presented for a laboratory prototype and allow evaluating the performance of the closed loop system.

Copyright © 2011 by ASME
Topics: Robots

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