Omnidirectional visual-servo of a Gough-Stewart platform

— This work deals with the control by vision of the Gough-Stewart platform. For that, a central catadioptric camera is used to observe the platform legs. This allows to obtain a large field of view, and then avoids the occlusion problems observed when a classical perspective camera is used. The leg projections onto the catadioptric plane are used to determine their orientation in the camera frame. Finally, the computed orientations will be used in a visual servoing scheme of the platform effector.

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Omar Tahri, Youcef Mezouar, Nicolas Andreff, Philippe Martinet
• Keywords: Catadioptric, Central Catadioptric Camera, Classical Perspective Camera, IROS 2007, Robotics