A Vision-based Computed Torque Control for Parallel Kinematic Machines

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dc.creatorPaccot, Flavien
dc.creatorLemoine, Philippe
dc.creatorAndreff, Nicolas
dc.creatorChablat, Damien
dc.creatorMartinet, Philippe
dc.date2008-10-15
dc.date.accessioned2026-07-07T10:10:23Z
dc.date.available2026-07-07T10:10:23Z
dc.descriptionIn 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.
dc.identifierhttps://arxiv.org/abs/0810.2666
dc.identifierhttp://arxiv.org/abs/0810.2666
dc.identifierIEEE International Conference on Robotics and Automation, Pasadena : États-Unis d'Amérique (2008)
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/171587
dc.subjectRobotics
dc.titleA Vision-based Computed Torque Control for Parallel Kinematic Machines
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