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Conference papers
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.
Cited literature [14 references]
https://hal.archives-ouvertes.fr/hal-00586390
Contributor : Martine Azema <>
Submitted on : Friday, April 15, 2011 - 4:34:13 PM
Last modification on : Thursday, November 12, 2020 - 9:42:11 AM
Long-term archiving on: : Saturday, July 16, 2011 - 2:36:40 AM
Contributor : Martine Azema <>
Submitted on : Friday, April 15, 2011 - 4:34:13 PM
Last modification on : Thursday, November 12, 2020 - 9:42:11 AM
Long-term archiving on: : Saturday, July 16, 2011 - 2:36:40 AM
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ICRA2010Anchorage.pdf
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