Towards vision-based control of cable-driven parallel robots

Tej Dallej (1) , Marc Gouttefarde (2) , Nicolas Andreff (1, 3) , Micaël Michelin (4) , Philippe Martinet (1)

1 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
2 DEXTER - Robotique médicale et mécanismes parallèles
3 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
4 FATRONIK

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.

Domaines: Micro et nanotechnologies/Microélectronique

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. pp.2855-2860, ⟨10.1109/IROS.2011.6094591⟩. ⟨hal-00691562⟩