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Visually Servoing a Gough-Stewart Parallel Robot Allows for Reduced and Linear Kinematic Calibration

Abstract : This paper focuses on the benefits of using computer vision to control a Gough-Stewart parallel robot. Namely, it is recalled that observing the legs of such a mechanism with a calibrated camera, thus following the redundant metrology paradigm, simplifies the control law. Then, we prove in this paper that such a control law depends on a reduced set of kinematic parameters (only those attached to the geometry of the robot base) and that these parameters can be obtained by solving a linear system. Moreover, we show that the camera can be calibrated without much experimental effort, simply using images of the robot itself. All this means that setting up the control system consists only in placing the camera in front of the robot.
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https://hal.inria.fr/hal-02467466
Contributor : Philippe Martinet <>
Submitted on : Wednesday, February 5, 2020 - 7:12:02 AM
Last modification on : Tuesday, April 20, 2021 - 11:20:06 AM
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Nicolas Andreff, Philippe Martinet. Visually Servoing a Gough-Stewart Parallel Robot Allows for Reduced and Linear Kinematic Calibration. ICINCO 2005 - 2nd International Conference on Informatics in Control, Automation and Robotics, Sep 2005, Barcelona, Spain. pp.119-124, ⟨10.5220/0001174301190124⟩. ⟨hal-02467466⟩

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