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Vision-based Control of a Delta Parallel Robot via Linear Camera-Space Manipulation

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Abstract

One of the open problems to control a parallel robot in real-time is the larger number of parameters to be incorporated in the control model when compared to serial robots. This paper presents an innovative vision-based method to control a delta-type parallel robot based on Linear Camera-Space Manipulation. The proposed method is a simple and robust technique capable of achieving real-time control of robots without relying on the calibration of either the robot or the environment parameters. To document the robustness of this technique, a sensitivity analysis was performed in simulation where the effect of two sources of error on the end-point positioning are considered. Such sources are the variability of each link’s parameters, and the uncertainty of the visual measurements. Experimental results on a Clavel’s delta parallel robot show that end-point positioning errors obtained with Linear Camera-Space Manipulation are less than 1.5 mm, demonstrating a low sensitivity to parameter uncertainty in qualitative agreement with the simulation results. The results show that the developed approach is advantageous to control parallel robots for industrial applications in real-time and can obviate to a number of open problems common with the control of parallel robots.

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Authors and Affiliations

  1. Universidad Autónoma de San Luis Potosí, San Luis Potosí, Mexico

    Enrique Coronado, Mauro Maya, Antonio Cardenas & Orlando Guarneros

  2. Gannon University, Erie, PA, USA

    Davide Piovesan

Authors
  1. Enrique Coronado
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  2. Mauro Maya
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  3. Antonio Cardenas
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  4. Orlando Guarneros
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  5. Davide Piovesan
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Correspondence to Mauro Maya.

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Coronado, E., Maya, M., Cardenas, A. et al. Vision-based Control of a Delta Parallel Robot via Linear Camera-Space Manipulation. J Intell Robot Syst 85, 93–106 (2017). https://doi.org/10.1007/s10846-016-0413-5

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  • DOI: https://doi.org/10.1007/s10846-016-0413-5

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