High Speed Parallel Kinematic Manipulator State Estimation from Legs Observation. - Archive ouverte HAL
Communication Dans Un Congrès Année : 2013

High Speed Parallel Kinematic Manipulator State Estimation from Legs Observation.

Résumé

To control dynamics of a parallel robot, we should measure the state feedback accurately and fast. In this paper, we show how to estimate positions and velocities simultaneously (i.e., the state feedback) at a reasonable accuracy and speed. We did this using only the sequential visual contours of the legs. A single-iteration virtual visual servoing scheme regulates rapidly an error of these contours. We validated this theory, a step to control parallel robots at high speed by their leg kinematics, with simulations and experiments.

Domaines

Micro et nanotechnologies/Microélectronique

Martine Azema  : Connectez-vous pour contacter le contributeur

https://hal.science/hal-00960054

Soumis le : lundi 17 mars 2014-15:25:31

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

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Dates et versions

hal-00960054 , version 1 (17-03-2014)

Identifiants

  • HAL Id : hal-00960054 , version 1

Citer

Erol Ozgür, Nicolas Andreff, Redwan Dahmouche, Philippe Martinet. High Speed Parallel Kinematic Manipulator State Estimation from Legs Observation.. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'13., Jan 2013, Japan. pp.426-429. ⟨hal-00960054⟩

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