Image-based Visual Servoing of a Gough-Stewart Parallel Manipulator using Leg Observations

Nicolas Andreff (1) , Tej Dallej (1) , Philippe Martinet (1)

1 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique

In this paper, a tight coupling between computer vision and paral- lel robotics is exhibited through the projective line geometry. Indeed, contrary to the usual methodology where the robot is modeled indepen- dently from the control law which will be implemented, we take into ac- count, since the early modeling stage, that vision will be used for con- trol. Hence, kinematic modeling and projective geometry are fused into a control-devoted projective kinematic model. Thus, a novel vision-based kinematic modeling of a Gough-Stewart manipulator is proposed through the image projection of its cylindrical legs. Using this model, a visual ser- voing scheme is presented, where the image projection of the non-rigidly linked legs are servoed, rather than the end-effector pose.

Domaines: Robotique [cs.RO]

Nicolas Andreff, Tej Dallej, Philippe Martinet. Image-based Visual Servoing of a Gough-Stewart Parallel Manipulator using Leg Observations. International Journal of Robotics Research. Special Issue on Vision and Robotics -- Joint with the International Journal of Computer Vision, 2007, 26 (7), pp.677--687. ⟨hal-00520165⟩