Force/position control of parallel robots using exteroceptive pose measurements. - Archive ouverte HAL Access content directly
Journal Articles Meccanica Year : 2011

Force/position control of parallel robots using exteroceptive pose measurements.

Abstract

The aim of this paper is to study the force and position tracking problem of parallel robot manipulators. Relying on a recent work showing that computed torque control in Cartesian space is suitable for parallel structures, we propose a parallel force position control scheme of a parallel robot based on the visual servoing of the end effector pose. Simulation results show the efficiency of the proposed approach.
No file

Dates and versions

hal-00804874 , version 1 (26-03-2013)

Identifiers

  • HAL Id : hal-00804874 , version 1

Cite

Saliha Bellakehal, Nicolas Andreff, Youcef Mezouar, Mohamed Tadjine. Force/position control of parallel robots using exteroceptive pose measurements.. Meccanica, 2011, pp.1-15. ⟨hal-00804874⟩

Collections

PRES_CLERMONT CNRS
51 View
0 Download

Share

Gmail Facebook X LinkedIn More