In this paper a visual servoing architecture based on a parallel robot for the tracking of faster moving objects with unknown trajectories is proposed. The control strategy is based on the prediction of the future position and velocity of the moving object. The synthesis of the predictive control law is based on the compensation of the delay introduced by the vision system. Demonstrating by experiments, the high-speed parallel robot system has good performance in the implementation of visual control strategies with high temporary requirements. The mechanical structure of RoboTenis System is inspired by the DELTA robot [1]. The choice of the robot is a consequence of the high requirements on the performance of the system with regard to velocity and acceleration. The kinematic analysis and the optimal design of the RoboTenis System have been presented by Angel, et al. [2]. The structure of the robot has been optimized from the view of both kinematics and dynamics respectively. The design method solves two difficulties: determining the dimensions of the parallel robot and selecting the actuators. In addition, the vision system and the control hardware have been also selected. The dynamic analysis and the preliminary control of the parallel robot
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