SciELO - Scientific Electronic Library Online

 
vol.12 issue4Fast Adaptive Trajectory Tracking Control for a Completely Uncertain DC Motor via Output FeedbackModeling and Tip Position Control of a Flexible Link Robot: Experimental Results author indexsubject indexsearch form
Home Pagealphabetic serial listing  

Services on Demand

Journal

Article

Indicators

Related links

  • Have no similar articlesSimilars in SciELO

Share


Computación y Sistemas

Print version ISSN 1405-5546

Abstract

GARCIA, Marco A.; CARDENAS, Antonio; RENDON, Juan M.  and  MAYA MENDEZ, Mauro. A vision based control platform for Industrial Robot Rehabilitation. Comp. y Sist. [online]. 2009, vol.12, n.4, pp.409-420. ISSN 1405-5546.

In this paper a development of a visually based control platform for industrial robots is described. One of the objectives of a vision based control is to enable robotic manipulators to execute diverse complex tasks in non structured environments. Additionally to this aim, this platform presents two important characteristics: a) replaces the original controller, thus it is not required that the manipulator has a functional controller, and b) the applied control strategy is robust to errors in the characterization of the kinematics model of the robot, errors caused either by inaccuracy in the parameters of the model or due to the moderate deterioration of the mechanical parts. These advantages enable robotic manipulators to accomplish complex tasks and/or extending their useful life. In sum, the implementation of this platform allows a reduction of costs and an improvement of benefits in the commercial use of robotic manipulators for the accomplishment of industrial processes. The developed control platform was validated experimentally with a PUMA 761 robot.

Keywords : Vision based control; Camera space manipulation; Retrofit of industrial manipulators.

        · abstract in Spanish     · text in Spanish     · Spanish ( pdf )

 

Creative Commons License All the contents of this journal, except where otherwise noted, is licensed under a Creative Commons Attribution License