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

Rossell Garriga, Josep Maria; Vicente Rodrigo, Jesús; Rubió Massegú, Josep; Barcons Xixons, Víctor

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Rossell Garriga, Josep Maria

Vicente Rodrigo, Jesús

Rubió Massegú, Josep

Barcons Xixons, Víctor

Document typeConference report

Defense date2018

Rights accessOpen Access

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder

ProjectDISEÑO DE ESTRATEGIAS AVANZADAS DE CONTROL Y DETECCION DE FALLOS PARA SISTEMAS MECATRONICOS COMPLEJOS (MINECO-DPI2015-64170-R)

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 characteristics, the calibration process, together with an illustrative experiment to demonstrate the good behavior of the platform is given.

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© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

CitationRossell, 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.

URIhttp://hdl.handle.net/2117/114945

ISBN978-1-5386-4053-1

Publisher versionhttp://proceedings.ieee-ies.org/icit18/

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