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

doi:10.1109/ICAR.2015.7251498

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

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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 language	English
Title of host publication	Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015)
Editors	Sinan Kalkan, Uluc Saranli
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	471 - 477
Number of pages	7
ISBN (Print)	9781467375092
DOIs	https://doi.org/10.1109/ICAR.2015.7251498
Publication status	Published - 2015
Event	International Conference on Advanced Robotics (ICAR) 2015 - Kadir Has University Cibali Confrence Center, Istanbul, Türkiye Duration: 28 Jul 2015 → 30 Jul 2015 Conference number: 17th https://ieeexplore.ieee.org/xpl/conhome/7235771/proceeding (Proceedings)

Conference

Conference	International Conference on Advanced Robotics (ICAR) 2015
Abbreviated title	ICAR 2015
Country/Territory	Türkiye
City	Istanbul
Period	28/07/15 → 30/07/15
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7235771/proceeding (Proceedings)

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10.1109/ICAR.2015.7251498

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Vignolo, A., Briot, S., Martinet, P., & Chen, C. (2015). End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs. In S. Kalkan, & U. Saranli (Eds.), Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015) (pp. 471 - 477). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICAR.2015.7251498

Vignolo, Alessia ; Briot, Sebastien ; Martinet, Philippe et al. / End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs. Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015). editor / Sinan Kalkan ; Uluc Saranli. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2015. pp. 471 - 477

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

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",

author = "Alessia Vignolo and Sebastien Briot and Philippe Martinet and Chao Chen",

year = "2015",

doi = "10.1109/ICAR.2015.7251498",

language = "English",

isbn = "9781467375092",

pages = "471 -- 477",

editor = "Sinan Kalkan and Uluc Saranli",

booktitle = "Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015)",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "International Conference on Advanced Robotics (ICAR) 2015, ICAR 2015 ; Conference date: 28-07-2015 Through 30-07-2015",

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}

Vignolo, A, Briot, S, Martinet, P & Chen, C 2015, End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs. in S Kalkan & U Saranli (eds), Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015). IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 471 - 477, International Conference on Advanced Robotics (ICAR) 2015, Istanbul, Türkiye, 28/07/15. https://doi.org/10.1109/ICAR.2015.7251498

End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs. / Vignolo, Alessia; Briot, Sebastien; Martinet, Philippe et al.

Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015). ed. / Sinan Kalkan; Uluc Saranli. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2015. p. 471 - 477.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

TY - GEN

T1 - End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs

AU - Vignolo, Alessia

AU - Briot, Sebastien

AU - Martinet, Philippe

AU - Chen, Chao

N1 - Conference code: 17th

PY - 2015

Y1 - 2015

N2 - 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

AB - 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

UR - http://www.irccyn.ecnantes.fr/~briot/PubliConf/VignoloBriotMartinetChen_ICAR2015.pdf

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M3 - Conference Paper

SN - 9781467375092

SP - 471

EP - 477

BT - Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015)

A2 - Kalkan, Sinan

A2 - Saranli, Uluc

PB - IEEE, Institute of Electrical and Electronics Engineers

CY - Piscataway NJ USA

T2 - International Conference on Advanced Robotics (ICAR) 2015

Y2 - 28 July 2015 through 30 July 2015

ER -

Vignolo A, Briot S, Martinet P, Chen C. End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs. In Kalkan S, Saranli U, editors, Proceedings of the 17th International Conference on Advanced Robotics (ICAR 2015). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2015. p. 471 - 477 https://doi.org/10.1109/ICAR.2015.7251498

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

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