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An efficient solution for pose identification of a parallel manipulator is presented. The procedure consists of two steps: (1) the pose of the parallel manipulator is determined with two affine invariants of a parallelogram; (2) Guass-Newton method is introduced, and results of the first step are used as the initial values of this iterative process. At last this method has been experimented, and compared...
This paper introduces a new monocular stereo-vision sensor system which is suitable for visual servo control of parallel manipulator, consisting of one CCD camera and four pairs of symmetry mirrors, is designed for close quarters visual detection and motion control. The trinocular matching models is established from the geometric parameters, such as the angle between two face to face symmetric mirrors,...
An intelligent optimizing algorithm, particle swarm optimizing clonal algorithm (PSOCA) is introduced in this paper, which combines the clonal selection mechanism of the immune system with the evolution equation of particle swarm optimization. It has the ability of global searching. The PSOCA improves the diversity of antibody population and its convergence speed, by using effectively the past information...
This paper puts forward an algorithm to compensate the pose error of a 6-DOF (six degrees of freedom) parallel manipulator based on stereo vision. Firstly, under the principle of rigid motion, the position and orientation are expressed by coordinates of three feature points which are not in a same line. At the same time, the position and orientation of the moving platform at current moment are also...
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