VISUALLY SERVOING A GOUGH-STEWART PARALLEL ROBOT ALLOWS FOR REDUCED AND LINEAR KINEMATIC CALIBRATION

Nicolas Andreff, Philippe Martinet

2005

Abstract

This paper focuses on the benefits of using computer vision to control a Gough-Stewart parallel robot. Namely, it is recalled that observing the legs of such a mechanism with a calibrated camera, thus following the redundant metrology paradigm, simplifies the control law. Then, we prove in this paper that such a control law depends on a reduced set of kinematic parameters (only those attached to the geometry of the robot base) and that these parameters can be obtained by solving a linear system. Moreover, we show that the camera can be calibrated without much experimental effort, simply using images of the robot itself. All this means that setting up the control system consists only in placing the camera in front of the robot.

References

  1. Andreff, N., Espiau, B., and Horaud, R. (2002). Visual servoing from lines. Int. Journal of Robotics Research, 21(8):679-700.
  2. Andreff, N., Marchadier, A., and Martinet, P. (2005). Vision-based control of a Gough-Stewart parallel mechanism using legs observation. In Proc. Int. Conf. Robotics and Automation (ICRA'05), pages 2546- 2551, Barcelona, Spain.
  3. Baron, L. and Angeles, J. (1998). The on-line direct kinematics of parallel manipulators under joint-sensor redundancy. In Advances in Robot Kinematics, pages 126-137.
  4. Bartoli, A. and Sturm, P. (2004). The 3d line motion matrix and alignement of line reconstructions. Int. Journal of Computer Vision, 57(3):159-178.
  5. Brown, D. (1971). Close-range camera calibration. Photogrammetric Engineering, 8(37):855-866.
  6. Christensen, H. and Corke, P., editors (2003). Int. Journal of Robotics Research - Special Issue on Visual Servoing, volume 22.
  7. DeMenthon, D. and Davis, L. (1992). Model-based object pose in 25 lines of code. Lecture Notes in Computer Science, pages 335-343.
  8. Devernay, F. and Faugeras, O. (2001). Straight lines have to be straight. Machine Vision and Applications, 13:14- 24.
  9. Dietmaier, P. (1998). The Stewart-Gough platform of general geometry can have 40 real postures. In Lenarc?ic?, J. and Husty, M. L., editors, Advances in Robot Kinematics: Analysis and Control, pages 1-10. Kluwer.
  10. Espiau, B., Chaumette, F., and Rives, P. (1992). A New Approach To Visual Servoing in Robotics. IEEE Trans. on Robotics and Automation, 8(3).
  11. Faugeras, O. and Toscani, G. (Tokyo, japan, 1987). Camera calibration for 3d computer vision. In International Conference on Computer Vision and Pattern Recognition (CVPR).
  12. Gogu, G. (2004). Fully-isotropic T3R1-type parallel manipulator. In Lenarc?ic?, J. and Galletti, C., editors, On Advances in Robot Kinematics, volume Kluwer Academic Publishers, pages 265-272.
  13. Husty, M. (1996). An algorithm for solving the direct kinematics of general Gough-Stewart platforms. Mech. Mach. Theory, 31(4):365-380.
  14. Kallio, P., Zhou, Q., and Koivo, H. N. (2000). Threedimensional position control of a parallel micromanipulator using visual servoing. In Nelson, B. J. and Breguet, J.-M., editors, Microrobotics and Microassembly II, Proceedings of SPIE, volume 4194, pages 103-111.
  15. Kim, H. and Tsai, L.-W. (2002). Evaluation of a Cartesian parallel manipulator. In Lenarc?ic?, J. and Thomas, F., editors, Advances in Robot Kinematics: Theory and Applications. Kluwer Academic Publishers.
  16. Koreichi, M., Babaci, S., Chaumette, F., Fried, G., and Pontnau, J. (1998). Visual servo control of a parallel manipulator for assembly tasks. In 6th Int. Symposium on Intelligent Robotic Systems, SIRS'98, pages 109-116, Edimburg, Scotland.
  17. Lavest, J., Viala, M., and Dhome, M. (1998). Do we really need an accurate calibration pattern to achieve a reliable camera calibration. In Proceedings of ECCV98, pages 158-174, Freiburg, Germany.
  18. Marchand, E. and Chaumette, F. (2005). Feature tracking for visual servoing purposes. Robotics and Autonomous Systems.
  19. Marquet, F. (2002). Contribution à l'étude de l'apport de la redondance en robotique parallèle. PhD thesis, LIRMM - Univ. Montpellier II.
  20. Martinet, P., Gallice, J., and Khadraoui, D. (1996). Vision based control law using 3d visual features. In Proc. World Automation Congress, WAC'96, Robotics and Manufacturing Systems, volume 3, pages 497-502, Montpellier, France.
  21. Merlet, J.-P. (1990). An algorithm for the forward kinematics of general 6 d.o.f. parallel manipulators. Technical Report 1331, INRIA.
  22. Merlet, J.-P. (2000). Parallel robots. Kluwer Academic Publishers.
  23. Renaud, P., Andreff, N., Gogu, G., and Martinet, P. (2004). On vision-based kinematic calibration of a StewartGough platform. In 11th World Congress in Mechanism and Machine Science (IFToMM2003), pages 1906-1911, Tianjin, China.
  24. Tsai, R. (Miami, UsA, 1986). An efficient and accurate calibration technique for 3d machine vision. In International Conference on Computer Vision and Pattern Recognition (CVPR), pages pp 364-374.
  25. Wang, J. and Masory, O. (1993). On the accuracy of a Stewart platform - Part I : The effect of manufacturing tolerances. In Proc. ICRA93, pages 114-120.
  26. Zhao, X. and Peng, S. (2000). Direct displacement analysis of parallel manipulators. Journal of Robotics Systems, 17(6):341-345.
Download


Paper Citation


in Harvard Style

Andreff N. and Martinet P. (2005). VISUALLY SERVOING A GOUGH-STEWART PARALLEL ROBOT ALLOWS FOR REDUCED AND LINEAR KINEMATIC CALIBRATION . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 119-124. DOI: 10.5220/0001174301190124


in Bibtex Style

@conference{icinco05,
author={Nicolas Andreff and Philippe Martinet},
title={VISUALLY SERVOING A GOUGH-STEWART PARALLEL ROBOT ALLOWS FOR REDUCED AND LINEAR KINEMATIC CALIBRATION},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={119-124},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001174301190124},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - VISUALLY SERVOING A GOUGH-STEWART PARALLEL ROBOT ALLOWS FOR REDUCED AND LINEAR KINEMATIC CALIBRATION
SN - 972-8865-30-9
AU - Andreff N.
AU - Martinet P.
PY - 2005
SP - 119
EP - 124
DO - 10.5220/0001174301190124