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Simultaneous Pose and Velocity Measurement by Vision for High-Speed Robots

Abstract : This paper proposes an original and novel vision sensing method to be used in vision-based dynamic identification of parallel robots. Indeed, it is shown that in the latter problem one requires to estimate (to the least) or measure (to the best) the end-effector pose and its time derivatives. The sensor we propose, based on a clever modelling of CMOS rolling shutter camera, measures simultaneously the end-effector pose of a calibrated visual pattern and its Cartesian velocity using a single view. Although motivated by parallel robot identification, this low cost sensor does not make any assumption on the kinematics of the robot and can thus be used for other applications. Experimental results with real data confirm the relevance of the approach and show the sensor good practical measurement accuracy
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Conference papers
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https://hal.archives-ouvertes.fr/hal-00095213
Contributor : Omar Ait-Aider <>
Submitted on : Friday, September 15, 2006 - 1:24:16 PM
Last modification on : Tuesday, February 11, 2020 - 6:58:18 AM

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  • HAL Id : hal-00095213, version 1

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Omar Ait Aider, Nicolas Andreff, Jean-Marc Lavest, Philippe Martinet. Simultaneous Pose and Velocity Measurement by Vision for High-Speed Robots. IEEE International Conference on Robotics and Automation, ICRA'06, 2006, Orlando, United States. pp.3742. ⟨hal-00095213⟩

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