A vision-based computed torque control for parallel kinematic machines

In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the only end-effector pose. It is shown that such an operation re...

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Hauptverfasser: Paccot, F., Lemoine, P., Andreff, N., Chablat, D., Martinet, P.
Format: Tagungsbericht
Sprache:eng
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Beschreibung
Zusammenfassung:In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the only end-effector pose. It is shown that such an operation reduces the model complexity. Then, this approach uses a classical Cartesian space computed torque control with a fast exteroceptive measure, reducing the control schemes complexity. Simulation results are given to show the expected performance improvements and experiments prove the practical feasibility of the approach.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2008.4543423