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

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4 Author(s)
Redwan Dahmouche ; LASMEA - CNRS - Université Blaise Pascal, 24 avenue des Landais, 63175 Aubière, France ; Nicolas Andreff ; Youcef Mezouar ; Philippe Martinet

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