Stable visual PID control of a planar parallel robot

Ruben Garrido Moctezuma; Alberto Soria López; Miguel Trujano Cabrera

doi:10.1117/12.816232

17 November 2008 Stable visual PID control of a planar parallel robot

Ruben Garrido Moctezuma, Alberto Soria López, Miguel Trujano Cabrera

Proceedings Volume 7266, Optomechatronic Technologies 2008; 72661S (2008) https://doi.org/10.1117/12.816232
Event: International Symposium on Optomechatronic Technologies, 2008, San Diego, California, United States

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.

Citation Download Citation

Ruben Garrido Moctezuma, Alberto Soria López, and Miguel Trujano Cabrera "Stable visual PID control of a planar parallel robot", Proc. SPIE 7266, Optomechatronic Technologies 2008, 72661S (17 November 2008); https://doi.org/10.1117/12.816232

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