Dynamic Visual Servoing for Ping-Pong Game of a 3DOF PKM

Traslosheros Michel, Alberto and Sebastian y Zuñiga, Jose Maria and Pari Pinto, Pablo Lizardo and Roberti, Flavio and Carelli, Ricardo (2010). Dynamic Visual Servoing for Ping-Pong Game of a 3DOF PKM. In: "VI Jornadas Argentinas de Robótica, JAR 2010", 03/11/2010 - 05/11/2010, Buenos Aires, Argentina.

Description

Title: Dynamic Visual Servoing for Ping-Pong Game of a 3DOF PKM
Author/s:
  • Traslosheros Michel, Alberto
  • Sebastian y Zuñiga, Jose Maria
  • Pari Pinto, Pablo Lizardo
  • Roberti, Flavio
  • Carelli, Ricardo
Item Type: Presentation at Congress or Conference (Article)
Event Title: VI Jornadas Argentinas de Robótica, JAR 2010
Event Dates: 03/11/2010 - 05/11/2010
Event Location: Buenos Aires, Argentina
Title of Book: Actas de la VI Jornadas Argentinas de Robótica, JAR 2010
Date: 2010
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 the new visual servo control and strategies that are utilized to carry out dynamic tasks by the system Robotenis. This platform is 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, 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 dynamic objects in 3D space. Contrasting the strategies shown in previous works, where the end effect or of the robot keeps a constant distance from the tracked object, in this work the controller is specially designed in order to allow changes the tracking reference. Changes in the tracking reference can be utilized to grip an object that is under movement or as in this case, Ping-Pong playing. Lyapunov stability is taken into account in the controller design.

More information

Item ID: 8172
DC Identifier: http://oa.upm.es/8172/
OAI Identifier: oai:oa.upm.es:8172
Official URL: http://eiffel.itba.edu.ar/JAR2010/
Deposited by: Memoria Investigacion
Deposited on: 08 Aug 2011 10:09
Last Modified: 20 Apr 2016 17:03
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