Vision-based Modeling and Control of Large-Dimension Cable-Driven Parallel Robots

Abstract : This paper is dedicated to vision-based modeling and control of large-dimension parallel robots driven by inextensible cables of non-negligible mass. An instantaneous inverse kinematic model devoted to vision is introduced. This model relies on the specificities of a parabolic profile hefty cable modeling and on the resulting simplified static analysis. By means of a kinematic visual servoing method, computer vision is used in the feedback loop for easier control. According to the modeling derived in this paper, measurements that allow the implementation of this visual servoing method consist of the mobile platform pose, the directions of the tangents to the cable curves at their drawing points and the cable tensions. The proposed visual servoing scheme will be applied to the control of a large parallel robot driven by eight cables. To this end, in order to obtain the aforementioned desired measurements, we plan to use a multi-camera setup together with force sensors.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. IEEE/RSJ, pp.1-6, 2012
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00737658
Contributeur : Marc Gouttefarde <>
Soumis le : mardi 2 octobre 2012 - 14:09:32
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

Identifiants

  • HAL Id : lirmm-00737658, version 1

Citation

Tej Dallej, Marc Gouttefarde, Nicolas Andreff, Redwan Dahmouche, Philippe Martinet. Vision-based Modeling and Control of Large-Dimension Cable-Driven Parallel Robots. IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. IEEE/RSJ, pp.1-6, 2012. 〈lirmm-00737658〉

Partager

Métriques

Consultations de la notice

193