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              <p>This work is dedicated to the application of two differentiating homogeneous semi-implicit to estimate the angular velocity  of each of the eight electric motors of the CRAFT cable-driven parallel robot from the recording of the angular position of their respective output shaft. These motors drive the winding or unwinding of eight cables to move the robot moving-platform. The results show that these differentiators, whose definitions are respectively based on one and two projectors, are extremely efficient tools for estimating the angular velocities of the eight motors. These estimated velocities are much less noisy than their reference signals obtained by backward difference. Those promising results will definitely contribute to a better control of the CRAFT robot.</p>
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              <p>Ce travail est dédié à l'application de deux différentiateurs semi-implicites et homogènes pour estimer la vitesse de chacun des huit moteurs électriques du robot parallèle à câbles CRAFT à partir de l'enregistrement de la position angulaire de leur arbre de sortie respectif. Ces moteurs actionnent l'enroulement ou le déroulement de huit câbles pour déplacer la plateforme mobile du robot en translation et en rotation. Les résultats montrent que ces différentiateurs, dont les définitions sont fondées sur un et deux projecteurs, sont des outils performants pour estimer les vitesses angulaires des huit moteurs. Ces vitesses estimées sont beaucoup moins bruitées que leurs signaux de référence obtenus par différence arrière. Ces résultats laissent espérer un apport conséquent pour la commande du robot CRAFT.</p>
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