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Proceedings Paper

Stable visual PID control of a planar parallel robot
Author(s): Ruben Garrido Moctezuma; Alberto Soria López; Miguel Trujano Cabrera
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Paper Abstract

In this paper, we study an image-based PID control of a redundant planar parallel robot using a fixed camera configuration. The control objective is to move the robot end effector to the desired image reference position. The control law has a PD term plus an integral term with a nonlinear function of the position error. The proportional and integral actions use image loop information whereas the derivative action adds task space damping using joint level measurements. The Lyapunov method and the LaSalle invariance principle allow assessing asymptotic closed loop stability. Experiments show the feasibility of the proposed approach.

Paper Details

Date Published: 17 November 2008
PDF: 9 pages
Proc. SPIE 7266, Optomechatronic Technologies 2008, 72661S (17 November 2008); doi: 10.1117/12.816232
Show Author Affiliations
Ruben Garrido Moctezuma, CINVESTAV-IPN (Mexico)
Alberto Soria López, CINVESTAV-IPN (Mexico)
Miguel Trujano Cabrera, CINVESTAV-IPN (Mexico)


Published in SPIE Proceedings Vol. 7266:
Optomechatronic Technologies 2008
John T. Wen; Dalibor Hodko; Yukitoshi Otani; Jonathan Kofman; Okyay Kaynak, Editor(s)

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