{"title":"无本体感觉传感器Gough-Stewart并联机器人的视觉伺服","authors":"N. Andreff, P. Martinet","doi":"10.1109/ROMOCO.2005.201428","DOIUrl":null,"url":null,"abstract":"In this paper, it is shown that computer vision, used as a redundant metrology mean, allows the control of a Gough-Stewart parallel robot without using any joint sensor. This result is highly relevant for the control of parallel mechanisms hard to instrument (for instance, hydraulically actuated ones) or with large displacements (for instance, large telescopes positioning systems). It is also very interesting since it turns computer vision, usually considered as an exteroceptive sensor, into a proprioceptive one, yet preserving its exteroceptive nature and non-contact measurement.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Visual servoing of a Gough-Stewart parallel robot without proprioceptive sensors\",\"authors\":\"N. Andreff, P. Martinet\",\"doi\":\"10.1109/ROMOCO.2005.201428\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, it is shown that computer vision, used as a redundant metrology mean, allows the control of a Gough-Stewart parallel robot without using any joint sensor. This result is highly relevant for the control of parallel mechanisms hard to instrument (for instance, hydraulically actuated ones) or with large displacements (for instance, large telescopes positioning systems). It is also very interesting since it turns computer vision, usually considered as an exteroceptive sensor, into a proprioceptive one, yet preserving its exteroceptive nature and non-contact measurement.\",\"PeriodicalId\":142727,\"journal\":{\"name\":\"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.\",\"volume\":\"16 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-06-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROMOCO.2005.201428\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.2005.201428","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Visual servoing of a Gough-Stewart parallel robot without proprioceptive sensors
In this paper, it is shown that computer vision, used as a redundant metrology mean, allows the control of a Gough-Stewart parallel robot without using any joint sensor. This result is highly relevant for the control of parallel mechanisms hard to instrument (for instance, hydraulically actuated ones) or with large displacements (for instance, large telescopes positioning systems). It is also very interesting since it turns computer vision, usually considered as an exteroceptive sensor, into a proprioceptive one, yet preserving its exteroceptive nature and non-contact measurement.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
