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Various "Urban Transportation Systems" are currently in developing, in order to put forward solutions to congestion and pollution in dense areas. Autonomous electric vehicles in free-access can be seen as an attractive approach, in view of the large flexibility that can be expected. One instrumental functionality linked to this solution is platoon motion: several autonomous vehicles accurately...
This paper proposes a method to control an I4R parallel robot by the observation of its legs with a calibrated camera. We show that the control law depends only on the edges of its forearms extracted from the image and that no proprioceptive sensors are used. Indeed, the variables needed for control (namely, the directions of the arms and forearms as well as the positions of the wrists) can be reconstructed...
In this paper, the original approach is proposed for the vision-based control of Par4 parallel robot. Observing the mechanism legs with a calibrated camera vision simplifies the control law based on the geometry of lines and the image projection of cylindrical legs. The method is illustrated and validated on a Par4 platform simulation
This paper is related to the vision-based control of parallel robots. Indeed, a method is proposed to estimate the reduced set of kinematic parameters appearing in such a control. To do so, it extends a linear method, obtained for a perspective camera, to the case of an omnidirectional camera, using an existing unifying projection model. The proposed method remains linear, once adequate information...
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