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Commande Vision/Force de robots parallèles.

Saliha Bellakehal 1 Nicolas Andreff 2 Youcef Mezouar 1 Mohamed Tadjine 3
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)
3 LCP - Laboratoire de Commande des Processus.
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.
keyword : visual servoing Parallel robots force control parallel control visual servoing.
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CNRS | UNIV-FCOMTE | UNIV-BM | FEMTO-ST | INSTITUT_PASCAL | PRES_CLERMONT | ACL-SPI | UNIV-BM-THESE

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Saliha Bellakehal, Nicolas Andreff, Youcef Mezouar, Mohamed Tadjine. Commande Vision/Force de robots parallèles.. Journal Européen des Systèmes Automatisés (JESA), Lavoisier, 2010, 44 (8), pp.887-911. ⟨10.3166/JESA.44.887-911⟩. ⟨hal-00586870⟩

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