This article describes the new visual servo control and strategies that are utilized to carry out dynamic tasks by the system Robotenis. This platform is a parallel robot that is equipped with an acquisition and processing system of visual information. Its main feature is that it has a completely open architecture control, planned in order to design, implement, test and compare control strategies and algorithms (visual and actuated joint controllers). Following sections describe a new visual control strategy specially designed to track dynamic objects in 3D space. Contrasting the strategies shown in previous works, where the end effect or of the robot keeps a constant distance from the tracked object, in this work the controller is specially designed in order to allow changes the tracking reference. Changes in the tracking reference can be utilized to grip an object that is under movement or as in this case, Ping-Pong playing. Lyapunov stability is taken into account in the controller design.
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