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

Abstract : 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 modelbased 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.
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Submitted on : Friday, April 15, 2011 - 4:34:13 PM
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  • HAL Id : hal-00586390, version 1

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Redwan Dahmouche, Nicolas Andreff, youcef Mezouar, Philippe Martinet. Efficient high-speed vision-based computed torque control of the orthoglide parallel robot.. IEEE International Conference on Robotics and Automation (ICRA'10), May 2010, Anchorage, Alaska, United States. pp.644-649. ⟨hal-00586390⟩

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