Towards vision-based control of cable-driven parallel robots

Abstract : This paper deals with the vision-based control of cable-driven parallel robots. First, a 3D pose visual servoing is proposed, where the end-effector pose is indirectly measured and used for regulation. This method is illustrated and validated on a cable-driven parallel robot prototype. Second, to take into account the dynamics of the platform and using a Cartesian pose and velocity estimator, a vision-based computed torque control is developed and validated in simulation.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Sep 2011, San Francisco, United States. IEEE/RSJ, pp.2855-2860, 2011, 〈http://www.iros2011.org/〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00737541
Contributeur : Marc Gouttefarde <>
Soumis le : mardi 2 octobre 2012 - 10:22:02
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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  • HAL Id : lirmm-00737541, version 1

Citation

Tej Dallej, Marc Gouttefarde, Nicolas Andreff, Micaël Michelin, Philippe Martinet. Towards vision-based control of cable-driven parallel robots. IROS: Intelligent RObots and Systems, Sep 2011, San Francisco, United States. IEEE/RSJ, pp.2855-2860, 2011, 〈http://www.iros2011.org/〉. 〈lirmm-00737541〉

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