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An effective strategy of real-time vision-based control for a Stewart platform

Author
Rossell, Josep M.; Vicente-Rodrigo, Jesus; Rubió-Massegú, J.; Barcons, V.
Type of activity
Presentation of work at congresses
Name of edition
19th IEEE International Conference on Industrial Technology
Date of publication
2018
Presentation's date
2018-02-21
Book of congress proceedings
2018 IEEE International Conference on Industrial Technology (ICIT): Lyon, France: February 19-22, 2018: proceedings
First page
75
Last page
80
DOI
https://doi.org/10.1109/ICIT.2018.8352155 Open in new window
Project funding
Design of advanced control strategies and fault detection for complex mechatronic systems
Repository
http://hdl.handle.net/2117/114945 Open in new window
URL
http://proceedings.ieee-ies.org/icit18/ Open in new window
Abstract
A Stewart platform is a kind of parallel robot which can be used for a wide variety of technological and industrial applications. In this paper, a Stewart platform designed and assembled at the Universitat Polit`ecnica de Catalunya (UPC) by our research group is presented. The main objective is to overcome the enormous difficulties that arise when a real-time vision-based control of a fast moving object placed on these mechanisms is required. In addition, a description of its geometric character...
Citation
Rossell, Josep M., Vicente-Rodrigo, Jesus, Rubió-Massegú, J., Barcons, V. An effective strategy of real-time vision-based control for a Stewart platform. A: IEEE International Conference on Industrial Technology. "Proceedings of the 2018 IEEE International Conference on Industrial Technology (ICIT), Lyon, France, 19-22 February 2018". 2018, p. 75-80.
Keywords
Calibration process, Geometric characteristics, Inverse kinematics, Motion control, Parallel robots, Real time vision, Research groups, Robots, Stewart platform, Stewart platforms, Tracking control, Tracking controls, Vision based control, Vision-based control Inverse kinematics, Visual servoing
Group of research
CIRCUIT - Communication Circuits and Systems Research Group
CoDAlab - Control, Dynamics and Applications
LRG - Lightning Research Group
PERC-UPC - Power Electronics Research Centre
SSR-UPC - Smart Sustainable Resources