Skip to Main content Skip to Navigation
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.
Complete list of metadatas

Cited literature [14 references]  Display  Hide  Download

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

File

ICRA2010Anchorage.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00586390, version 1

Citation

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⟩

Share

Metrics

Record views

417

Files downloads

399