End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs

Alessia Vignolo, S. Briot, P. Martinet, Chao Chen
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Abstract

Past research works have shown that it was possible to evaluate the end-effector pose of parallel robots by vision. First of all, it was proposed to directly observed the end-effector. However, this observation may be not possible (e.g. in the case of a haptic device for which the end-effector may be hidden by the user hand). Therefore, it has been proposed another type of end-effector pose estimation based on the observation of the directions of the legs. Even interesting results were obtained, this method is not suitable for some particular parallel robot families (e.g. the Monash Epicyclic-Parallel Manipulator, MEPaM). This paper proposes a new approach for the estimation of the end-effector pose: by observing the mechanism legs, it is possible to extract the Plücker coordinates of their lines and determine the end-effector pose. The new end-effector pose estimation method is applied to the MEPaM. All results are validated on a MEPaM simulator created using ADAMS/Controls and interfaced with Matlab/Simulink.
通过对Monash周期并联机械臂腿的视觉观察估计其末端执行器位姿
过去的研究表明,通过视觉来评估并联机器人末端执行器的姿态是可能的。首先,提出了直接观察末端执行器的方法。然而,这种观察可能是不可能的(例如,在触觉设备的情况下,终端执行器可能被用户的手隐藏)。因此,提出了另一种基于观察腿部方向的末端执行器姿态估计方法。即使得到了有趣的结果,这种方法也不适合某些特定的并联机器人家族(如莫纳什本轮并联机器人,MEPaM)。本文提出了一种估算末端执行器位姿的新方法:通过观察机构腿,提取其直线的plicker坐标,从而确定末端执行器位姿。将新的末端执行器姿态估计方法应用于MEPaM。所有结果都在使用ADAMS/Controls创建的MEPaM模拟器上进行验证,并与Matlab/Simulink进行接口。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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