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The International Journal of Robotics Research
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Image-based Visual Servoing of a Gough—Stewart Parallel Manipulator using Leg Observations

Nicolas Andreff

LASMEA-UMR 6602 CNRS-Université Blaise Pascal 24 avenue des Landais F-63177 Aubière Cedex, France, Nicolas.Andreff{at}lasmea.univ-bpclermont.fr http://www.lasmea.univ-bpclermont.fr/Control, LaMI, IFMA-Université Blaise Pascal, BP 165, F-63175 Aubière Cedex, France, Nicolas.Andreff{at}lasmea.univ-bpclermont.fr http://www.lasmea.univ-bpclermont.fr/Control

Tej Dallej

LASMEA-UMR 6602 CNRS-Université Blaise Pascal 24 avenue des Landais F-63177 Aubière Cedex, France, @lasmea.univ-bpclermont.fr, http://www.lasmea.univ-bpclermont.fr/Control

Philippe Martinet

LASMEA-UMR 6602 CNRS-Université Blaise Pascal 24 avenue des Landais F-63177 Aubière Cedex, France, @lasmea.univ-bpclermont.fr, http://www.lasmea.univ-bpclermont.fr/Control

In this paper, a tight coupling between computer vision and parallel robotics is exhibited through the projective line geometry. Indeed, contrary to the usual methodology where the robot is modeled independently from the control law that will be implemented, the proposed method takes into account, from the early modeling stage, the fact that vision will be used for control. Hence, kinematic modeling and projective geometry are fused into a control-devoted projective kinematic model. Thus, starting from a vision-based kinematic modeling of a Gough—Stewart manipulator, a visual servoing scheme is presented, where the image projection (edges) of the non-rigidly linked legs are servoed, rather than the end-effector pose or the leg directions.

Key Words: parallel robots • visual servoing

The International Journal of Robotics Research, Vol. 26, No. 7, 677-687 (2007)
DOI: 10.1177/0278364907080426
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