A Vision-based Computed Torque Control for Parallel Kinematic Machines

Details A Vision-based Computed Torque Control for Parallel Kinematic Machines A Vision-based Computed Torque Control for Parallel Kinematic Machines

2008-10-15

arxiv.org/abs/0810.2666v1

IEEE International Conference on Robotics and Automation, Pasadena : \'Etats-Unis d'Am\'erique (2008)

Computer Science

Robotics

Scientific paper

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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