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Communication Dans Un Congrès Année : 2008

A Vision-based Computed Torque Control for Parallel Kinematic Machines

Résumé

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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Dates et versions

hal-00330762 , version 1 (15-10-2008)

Identifiants

Citer

Flavien Paccot, Philippe Lemoine, Nicolas Andreff, Damien Chablat, Philippe Martinet. A Vision-based Computed Torque Control for Parallel Kinematic Machines. IEEE International Conference on Robotics and Automation, ICRA 2008, May 2008, Pasadena, United States. ISBN: 978-1-4244-1647-9, pp. 1556-1561. ⟨hal-00330762⟩
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