Vision-Based Control of a Gough-Stewart Parallel Mechanism using Legs Observation

This paper presents a novel approach for vision-based control of the end-effector of parallel mechanisms. It is based on the metrological redundancy paradigm, which simplifies their kinematic models by introducing additional proprioceptive sensors. By observing the mechanism legs, vision replaces advantageously these sensors by delivering, in a Cartesian frame, an exteroceptive measurement of the internal state of the mechanism. Formally, the latter is expressed by an original concept of vision-based kinematics for parallel mechanisms. Based on it, control is derived that visually servoes the direction of the legs, rather than the end-effector pose. The method is illustrated and validated on a Gough-Stewart platform simulation.

[1]  H. Pottmann,et al.  Approximation in Line Space — Applications in Robot Kinematics and Surface Reconstruction , 1998 .

[2]  Radu Horaud,et al.  Visual Servoing from Lines , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  Larry S. Davis,et al.  Model-based object pose in 25 lines of code , 1992, International Journal of Computer Vision.

[4]  Patrick Rives,et al.  Intrinsics-free visual servoing with respect to straight lines , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Sungbok Kim,et al.  Cartesian space dynamic model of serial-parallel manipulator systems and their dynamic performance evaluation , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[6]  Robert E. Mahony,et al.  Visual servoing using linear features for under-actuated rigid body dynamics , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[7]  Han Sung Kim,et al.  Evaluation of a Cartesian Parallel Manipulator , 2002 .

[8]  Grigore Gogu.  Fully-Isotropic T3R1-Type Parallel Manipulators , 2004 .

[9]  Philippe Martinet,et al.  Vision-based kinematic calibration of an H4 parallel mechanism: practical accuracies , 2004, Ind. Robot.

[10]  Quan Zhou,et al.  Three-dimensional position control of a parallel micromanipulator using visual servoing , 2000, SPIE Optics East.

[11]  Chien Chern Cheah,et al.  A Motion Control Scheme in Task Oriented Coordinates and its Robustness for Parallel Wire Driven Systems , 2000 .

[12]  Xinhua Zhao,et al.  Direct displacement analysis of parallel manipulators , 2000, J. Field Robotics.

[13]  Philippe Martinet,et al.  Vision-Based Control in Driving Assistance of Agricultural Vehicles , 1998, Int. J. Robotics Res..

[14]  Michel Dhome,et al.  Do We Really Need an Accurate Calibration Pattern to Achieve a Reliable Camera Calibration? , 1998, ECCV.

[15]  Philippe Martinet,et al.  On Vision-based Kinematic Calibration of a Stewart-Gough Platform , 2004 .

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

[17]  Jian Wang,et al.  On the accuracy of a Stewart platform. I. The effect of manufacturing tolerances , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

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

[19]  J. Plucker.  I. On a new geometry of space , Proceedings of the Royal Society of London.

[20]  Jorge Angeles,et al.  The direct kinematics of parallel manipulators under joint-sensor redundancy , 2000, IEEE Trans. Robotics Autom..

[21]  M. Husty.  An algorithm for solving the direct kinematics of general Stewart-Gough platforms , 1996 .

[22]  Jorge Stolfi,et al.  Oriented projective geometry , 1987, SCG '87.

[23]  T. Mruthyunjaya,et al.  Force redundancy in parallel manipulators: Theoretical and practical issues , 1998 .

[24]  Philippe Martinet,et al.  Vision Based Control Law using 3D Visual Features , 1997 .

[25]  Fadi Dornaika,et al.  Visually guided object grasping , 1998, IEEE Trans. Robotics Autom..