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

Redwan Dahmouche (1) , Nicolas Andreff (2) , Youcef Mezouar (1) , Philippe Martinet (1)

1 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

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.

Domaines: Micro et nanotechnologies/Microélectronique

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⟩