An experimental study on the vision-based control and identification of planar cable-driven parallel robots

2016 ◽  
Vol 75 ◽  
pp. 187-202 ◽  
Author(s):  
Hassan Bayani ◽  
Mehdi Tale Masouleh ◽  
Ahmad Kalhor
Keyword(s):  
Experimental Study ◽  
Parallel Robots ◽  
Vision Based Control

scholarly journals Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

Mechatronics ◽  
2019 ◽  
Vol 61 ◽  
pp. 20-36 ◽  
Author(s):  
Tej Dallej ◽  
Marc Gouttefarde ◽  
Nicolas Andreff ◽  
Pierre-Elie Hervé ◽  
Philippe Martinet
Keyword(s):  
Parallel Robots ◽  
Large Dimension ◽  
Multiple Camera ◽  
Vision Based Control

scholarly journals Towards vision-based control of cable-driven parallel robots

2011 ◽  
Author(s):  
Tej Dallej ◽  
Marc Gouttefarde ◽  
Nicolas Andreff ◽  
Micael Michelin ◽  
Philippe Martinet
Keyword(s):  
Parallel Robots ◽  
Vision Based Control

Image-based control of delta parallel robots via enhanced LCM-CSM to track moving objects

2020 ◽  
Vol 47 (4) ◽  
pp. 559-567
Author(s):  
J. Guillermo Lopez-Lara ◽  
Mauro Eduardo Maya ◽  
Alejandro González ◽  
Antonio Cardenas ◽  
Liliana Felix
Keyword(s):  
Moving Objects ◽  
Control Method ◽  
Computational Cost ◽  
Parallel Robots ◽  
Average Error ◽  
Camera Model ◽  
Content Type ◽  
Delta Type ◽  
New Variant ◽  
Vision Based Control

Purpose The purpose of this paper is to present a new vision-based control method, which enables delta-type parallel robots to track and manipulate objects moving in arbitrary trajectories. This constitutes an enhanced variant of the linear camera model-camera space manipulation (LCM-CSM). Design/methodology/approach After obtaining the LCM-CSM view parameters, a moving target’s position and its velocity are estimated in camera space using Kalman filter. The robot is then commanded to reach the target. The proposed control strategy has been experimentally validated using a PARALLIX LKF-2040, an academic delta-type parallel platform and seven different target trajectories for which the positioning errors were recorded. Findings For objects that moved manually along a sawtooth, zigzag or increasing spiral trajectory with changing velocities, a maximum positioning error of 4.31 mm was found, whereas objects that moved on a conveyor belt at constant velocity ranging from 7 to 12 cm/s, average errors between 2.2-2.75 mm were obtained. For static objects, an average error of 1.48 mm was found. Without vision-based control, the experimental platform used has a static positioning accuracy of 3.17 mm. Practical implications The LCM-CSM method has a low computational cost and does not require calibration or computation of Jacobians. The new variant of LCM-CSM takes advantage of aforementioned characteristics and applies them to vision-based control of parallel robots interacting with moving objects. Originality/value A new variant of the LCM-CSM method, traditionally used only for static positioning of a robot’s end-effector, was applied to parallel robots enabling the manipulation of objects moving along unknown trajectories.

scholarly journals Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

Robotica ◽  
2018 ◽  
Vol 36 (12) ◽  
pp. 1874-1896 ◽  
Author(s):  
Tej Dallej ◽  
Nicolas Andreff ◽  
Philippe Martinet
Keyword(s):  
Broad Class ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Parallel Robots ◽  
Parallel Mechanisms ◽  
Generic Structure ◽  
Control Approach ◽  
Vision Based Control ◽  
Generic Architecture ◽  
Generic Modeling

SUMMARYThis paper deals with a generic modeling and vision-based control approach for a broad class of parallel mechanisms. First, a generic architecture representing several families is proposed. Second, inspired by the geometry of lines, a generic differential inverse kinematic model according to the proposed generic structure is introduced. Finally, based on the image projection of cylindrical legs, a kinematic vision-based control using legs observation is presented. The approach is illustrated and validated on the Gough–Stewart and Par4 parallel robots.

Experimental study on the restoration from a tilt-azimuth series for improvement in resolution

1995 ◽  
Vol 53 ◽  
pp. 636-637
Author(s):  
Norio Baba ◽  
Norihiko Ichise ◽  
Syunya Watanabe
Keyword(s):  
Experimental Study ◽  
Spherical Aberration ◽  
Incident Beam ◽  
Optical Parameters ◽  
Beam Tilting ◽  
Illumination Method ◽  
Restoration Method ◽  
Illumination Mode

The tilted beam illumination method is used to improve the resolution comparing with the axial illumination mode. Using this advantage, a restoration method of several tilted beam images covering the full azimuthal range was proposed by Saxton, and experimentally examined. To make this technique more reliable it seems that some practical problems still remain. In this report the restoration was attempted and the problems were considered. In our study, four problems were pointed out for the experiment of the restoration. (1) Accurate beam tilt adjustment to fit the incident beam to the coma-free axis for the symmetrical beam tilting over the full azimuthal range. (2) Accurate measurements of the optical parameters which are necessary to design the restoration filter. Even if the spherical aberration coefficient Cs is known with accuracy and the axial astigmatism is sufficiently compensated, at least the defocus value must be measured. (3) Accurate alignment of the tilt-azimuth series images.

An Experimental Study of Some Properties of Stuttered Words

1962 ◽  
Vol 5 (4) ◽  
pp. 387-394 ◽  
Author(s):  
Bruce Quarrington ◽  
Jerome Conway ◽  
Nathan Siegel
Keyword(s):  
Experimental Study
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