Towards vision-based control of cable-driven parallel robots

This paper deals with the vision-based control of cable-driven parallel robots. First, a 3D pose visual servoing is proposed, where the end-effector pose is indirectly measured and used for regulation. This method is illustrated and validated on a cable-driven parallel robot prototype. Second, to take into account the dynamics of the platform and using a Cartesian pose and velocity estimator, a vision-based computed torque control is developed and validated in simulation.

[1]  Marc Gouttefarde,et al.  On the determination of cable characteristics for large dimension cable-driven parallel mechanisms , 2010, 2010 IEEE International Conference on Robotics and Automation.

[2]  Philippe Martinet,et al.  3D Pose Visual Servoing Relieves Parallel Robot Control from Joint Sensing , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Lambert Schomaker,et al.  2000 IEEE/RSJ International Conference On Intelligent Robots And Systems , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[4]  Philippe Martinet,et al.  A Review on the Dynamic Control of Parallel Kinematic Machines: Theory and Experiments , 2009, Int. J. Robotics Res..

[5]  Michel Dhome,et al.  Speed command of a robotic system by monocular pose estimate , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[6]  Nicolas Andreff,et al.  Vision-based Kinematic Modelling of Some Parallel Manipulators for Control Purposes , 2006 .

[7]  E. Malis,et al.  2 1/2 D Visual Servoing , 1999 .

[8]  Todd Graham,et al.  On the inverse kinematics, statics, and fault tolerance of cable-suspended robots , 1998, J. Field Robotics.

[9]  F. Bekes,et al.  Motion control of a tendon-based parallel manipulator using optimal tension distribution , 2004, IEEE/ASME Transactions on Mechatronics.

[10]  So-Ryeok Oh,et al.  Generation of feasible set points and control of a cable robot , 2006, IEEE Transactions on Robotics.

[11]  P. Martinet,et al.  Image-based visual servoing of Gough-Stewart parallel manipulators using legs observation , 2006 .

[12]  Patrick Rives,et al.  A new approach to visual servoing in robotics , 1992, IEEE Trans. Robotics Autom..

[13]  William J. Wilson,et al.  Relative end-effector control using Cartesian position based visual servoing , 1996, IEEE Trans. Robotics Autom..

[14]  Manfred Hiller,et al.  A real-time capable force calculation algorithm for redundant tendon-based parallel manipulators , 2008, 2008 IEEE International Conference on Robotics and Automation.

[15]  Lee E. Weiss,et al.  Dynamic sensor-based control of robots with visual feedback , 1987, IEEE Journal on Robotics and Automation.

[16]  Makoto Sato,et al.  A 3D Spatial Interface Device Using Tensed Strings , 1994, Presence: Teleoperators & Virtual Environments.

[17]  Philippe Martinet,et al.  3D pose and velocity visual tracking based on sequential region of interest acquisition , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Roger V. Bostelman,et al.  Seven-DOF Cable-Suspended Robot With Independent Metrology , 2004 .

[19]  Peter I. Corke,et al.  A tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..

[20]  Philippe Martinet,et al.  Image-based Visual Servoing of a Gough—Stewart Parallel Manipulator using Leg Observations , 2007, Int. J. Robotics Res..

[21]  D. Stewart,et al.  A Platform with Six Degrees of Freedom , 1965 .

[22]  James S. Albus,et al.  The NIST robocrane , 1993, J. Field Robotics.

[23]  Sunil K. Agrawal,et al.  Cable suspended robots: design, planning and control , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[24]  Philippe Martinet,et al.  Position based visual servoing: keeping the object in the field of vision , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[25]  Robert L. Williams,et al.  CONTOUR-CRAFTING-CARTESIAN-CABLE ROBOT SYSTEM CONCEPTS: WORKSPACE AND STIFFNESS COMPARISONS , 2008 .

[26]  Ilian A. Bonev.  The true origins of parallel robots , 2003 .