Vision-based Modeling and Control of Large-Dimension Cable-Driven Parallel Robots - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2012

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

Résumé

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.
Fichier principal
Vignette du fichier
IROS2012_Dallej-3.pdf (546.63 Ko) Télécharger le fichier
Origine : Fichiers éditeurs autorisés sur une archive ouverte
Loading...

Dates et versions

lirmm-00737658 , version 1 (14-02-2018)

Identifiants

Citer

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. pp.1581-1586, ⟨10.1109/IROS.2012.6385504⟩. ⟨lirmm-00737658⟩
438 Consultations
2971 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More