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

Traslosheros Michel, Alberto and Sebastian y Zuñiga, Jose Maria and Angel, Luis and Roberti, Flavio and Carelli, Ricardo (2011). Visual Servoing for the Robotenis System: a Strategy for a 3 DOF Parallel Robot to Hit a Ping-Pong Ball. In: "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.

Description

Title: Visual Servoing for the Robotenis System: a Strategy for a 3 DOF Parallel Robot to Hit a Ping-Pong Ball
Author/s:
  • Traslosheros Michel, Alberto
  • Sebastian y Zuñiga, Jose Maria
  • Angel, Luis
  • Roberti, Flavio
  • Carelli, Ricardo
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC
Event Dates: 12/12/2011 - 15/12/2011
Event Location: Orlando, USA
Title of Book: Proceedings of 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
Date: 2011
ISBN: 978-1-61284-800-6
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 12973
DC Identifier: http://oa.upm.es/12973/
OAI Identifier: oai:oa.upm.es:12973
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6161242
Deposited by: Memoria Investigacion
Deposited on: 12 Dec 2012 15:21
Last Modified: 21 Apr 2016 12:16
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