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

Alessia Vignolo, Sebastien Briot, Philippe 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 Plucker 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
Original languageEnglish
Title of host publicationProceedings of the 17th International Conference on Advanced Robotics (ICAR 2015)
EditorsSinan Kalkan, Uluc Saranli
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages471 - 477
Number of pages7
ISBN (Print)9781467375092
DOIs
Publication statusPublished - 2015
EventInternational Conference on Advanced Robotics (ICAR) 2015 - Kadir Has University Cibali Confrence Center, Istanbul, Turkey
Duration: 28 Jul 201530 Jul 2015
Conference number: 17th
https://ieeexplore.ieee.org/xpl/conhome/7235771/proceeding (Proceedings)

Conference

ConferenceInternational Conference on Advanced Robotics (ICAR) 2015
Abbreviated titleICAR 2015
CountryTurkey
CityIstanbul
Period28/07/1530/07/15
Internet address

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