Vision-based Control Approach for Generalized Planar Parallel Robots

Abstract

Generalized parallel mechanisms become the refinement research result of the parallel mechanism study to overcome limits such as small rotational performance or low task specificity of traditional parallel mechanisms. Towards an effective control scheme for generalized parallel mechanisms is the key to promoting its future application. This paper is dedicated to visual-based control modelling of planar parallel robots. To overcome the challenge of end-effect pose estimation for the parallel mechanism, the control scheme is able to minimize the error of the end-effect of the mechanism through information obtained from a fixed visual system. The simulation and experiment results show the time efficiency and accuracy of the proposed control scheme that able to stabilize the system in a short time during the motion control.