A Vision-based Computed Torque Control for Parallel Kinematic MachinesReport as inadecuate




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1 LASMEA - Laboratoire des sciences et matériaux pour l-électronique et d-automatique 2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

Abstract : 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.

Keywords : Vision based control Orthoglide Dynamics Control





Author: Flavien Paccot - Philippe Lemoine - Nicolas Andreff - Damien Chablat - Philippe Martinet -

Source: https://hal.archives-ouvertes.fr/



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