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Efficient high-speed vision-based computed torque control of the orthoglide parallel robot

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4 Author(s)
Dahmouche, R. ; CNRS, Univ. Blaise Pascal, Aubière, France ; Andreff, N. ; Mezouar, Y. ; Martinet, P.

Vision has often been considered as not suitable for dynamic control of robots. The experimental results presented in this paper show that it is possible to perform better with a vision based dynamic control than with a model-based control. These results were obtained using a Cartesian computed torque control fed back, without any joint sensing, by a novel Cartesian pose and velocity estimator. The latter is designed as a virtual visual servoing scheme based on sequential acquisition of sub-images and a constant acceleration motion assumption.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010