A Vision-based Computed Torque Control for Parallel Kinematic Machines

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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Veröffentlicht in:arXiv.org 2008-10
Hauptverfasser: Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe
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Sprache:eng
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Complexity
Computation
Computer simulation
Kinematics
Production planning
Robots
Torque
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Lemoine, Philippe
Andreff, Nicolas
Chablat, Damien
Martinet, Philippe
description 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.
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subjects Complexity
Computation
Computer simulation
Kinematics
Production planning
Robots
Torque
title A Vision-based Computed Torque Control for Parallel Kinematic Machines
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