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Communication Dans Un Congrès Année : 2010

Vector-based dynamic modeling and control of the quattro parallel robot by means of leg orientations.

Résumé

One of the key steps in high-speed control of a parallel robot is to define an efficient dynamic model. It is usually not easy to have such a model for parallel robots, since many of them have complex structures. Here, we propose a vector-based approach, which employs the robot leg orientations, to obtain a simplified inverse dynamic model. At the least, this vector-based methodology is pioneering, when combined with the observation of orientations by a calibrated camera, in the sense of solving the entire control-oriented (hard) modeling problem, both kinematics and dynamics, in an almost algebraic manner through the knowledge of only a nominal set of image features: the edges of the robot legs and their time derivatives. Proposed method is verified on a simulator of the Quattro robot with a computed torque control where the leg orientations are steered.
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Dates et versions

hal-00586367 , version 1 (15-04-2011)

Identifiants

  • HAL Id : hal-00586367 , version 1

Citer

Erol Ozgür, Nicolas Andreff, Philippe Martinet. Vector-based dynamic modeling and control of the quattro parallel robot by means of leg orientations.. IEEE Conference on Robotics and Automation (ICRA'10), May 2010, Anchorage, Alaska, United States. pp.638-643. ⟨hal-00586367⟩
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