Visual Servoing for the Robotenis System: a Strategy for a 3 DOF Parallel Robot to Hit a Ping-Pong Ball

Traslosheros Michel, Alberto; Sebastian y Zuñiga, Jose Maria; Angel, Luis; Roberti, Flavio y Carelli, Ricardo (2011). Visual Servoing for the Robotenis System: a Strategy for a 3 DOF Parallel Robot to Hit a Ping-Pong Ball. En: "2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC", 12/12/2011 - 15/12/2011, Orlando, USA. ISBN 978-1-61284-800-6. pp. 5695-5701.

Descripción

Título: Visual Servoing for the Robotenis System: a Strategy for a 3 DOF Parallel Robot to Hit a Ping-Pong Ball
Autor/es:
  • Traslosheros Michel, Alberto
  • Sebastian y Zuñiga, Jose Maria
  • Angel, Luis
  • Roberti, Flavio
  • Carelli, Ricardo
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC
Fechas del Evento: 12/12/2011 - 15/12/2011
Lugar del Evento: Orlando, USA
Título del Libro: Proceedings of 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
Fecha: 2011
ISBN: 978-1-61284-800-6
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

This article describes a new visual servo control and strategies that are used to carry out dynamic tasks by the Robotenis platform. This platform is basically a parallel robot that is equipped with an acquisition and processing system of visual information, its main feature is that it has a completely open architecture control, and planned in order to design, implement, test and compare control strategies and algorithms (visual and actuated joint controllers). Following sections describe a new visual control strategy specially designed to track and intercept objects in 3D space. The results are compared with a controller shown in previous woks, where the end effector of the robot keeps a constant distance from the tracked object. In this work, the controller is specially designed in order to allow changes in the tracking reference. Changes in the tracking reference can be used to grip an object that is under movement, or as in this case, hitting a hanging Ping-Pong ball. Lyapunov stability is taken into account in the controller design.

Más información

ID de Registro: 12973
Identificador DC: http://oa.upm.es/12973/
Identificador OAI: oai:oa.upm.es:12973
URL Oficial: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6161242
Depositado por: Memoria Investigacion
Depositado el: 12 Dic 2012 15:21
Ultima Modificación: 21 Abr 2016 12:16
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