Towards vision-based control of cable-driven parallel robots

This paper deals with the vision-based control of cable-driven parallel robots. First, a 3D pose visual servoing is proposed, where the end-effector pose is indirectly measured and used for regulation. This method is illustrated and validated on a cable-driven parallel robot prototype. Second, to take into account the dynamics of the platform and using a Cartesian pose and velocity estimator, a vision-based computed torque control is developed and validated in simulation.

Domaines

Micro et nanotechnologies/Microélectronique

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Iros2011_ReelAx8_Accepted_Version_04juillet-1.pdf (1.38 Mo)

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https://hal.science/hal-00691562

Soumis le : jeudi 26 avril 2012-15:31:37

Dernière modification le : vendredi 20 octobre 2023-12:47:49

Archivage à long terme le : jeudi 15 décembre 2016-02:23:38

Dates et versions

hal-00691562 , version 1 (26-04-2012)

Identifiants

HAL Id : hal-00691562 , version 1
DOI : 10.1109/IROS.2011.6094591

Citer

Tej Dallej, Marc Gouttefarde, Nicolas Andreff, Micaël Michelin, Philippe Martinet. Towards vision-based control of cable-driven parallel robots. IROS: Intelligent Robots and Systems, Sep 2011, San Francisco, United States. pp.2855-2860, ⟨10.1109/IROS.2011.6094591⟩. ⟨hal-00691562⟩

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