Abstract : In this paper, force and position control of parallel kinematic machines is discussed. Cartesian space computed torque control is applied to achieve force and position servoing directly in the task space within a sensor based control architecture. The originality of the approach resides in the use of a vision system as an exteroceptive pose measurement of a parallel machine tool for force control purposes.
https://hal.archives-ouvertes.fr/hal-00586870 Contributor : Martine AzemaConnect in order to contact the contributor Submitted on : Monday, April 18, 2011 - 4:47:26 PM Last modification on : Thursday, January 13, 2022 - 12:00:17 PM Long-term archiving on: : Tuesday, July 19, 2011 - 3:00:09 AM