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arXiv · 0810.2666

A Vision-based Computed Torque Control for Parallel Kinematic Machines

Flavien Paccot·Philippe Lemoine·Nicolas Andreff·Damien Chablat·Philippe Martinet
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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.

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Flavien Paccot, Philippe Lemoine, Nicolas Andreff, Damien Chablat, Philippe Martinet. 2008-10-15. A Vision-based Computed Torque Control for Parallel Kinematic Machines. https://arxiv.org/abs/0810.2666

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