Force/position control of parallel robots using exteroceptive pose measurements

Abstract : The aim of this paper is to study the force and position tracking problem of parallel robot manipulators. Relying on a recent work showing that computed torque control in Cartesian space is suitable for parallel structures, we propose a parallel force position control scheme of a parallel robot based on the visual servoing of the end effector pose. Simulation results show the efficiency of the proposed approach.
Type de document :
Article dans une revue
Meccanica, Springer Verlag, 2011, 46, pp.195-205. 〈10.1007/s11012-010-9411-z〉
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00804416
Contributeur : Martine Azema <>
Soumis le : lundi 25 mars 2013 - 14:48:52
Dernière modification le : jeudi 11 janvier 2018 - 06:17:20

Lien texte intégral

Identifiants

Citation

Saliha Bellakehal, Nicolas Andreff, Youcef Mezouar, Mohamed Tadjine. Force/position control of parallel robots using exteroceptive pose measurements. Meccanica, Springer Verlag, 2011, 46, pp.195-205. 〈10.1007/s11012-010-9411-z〉. 〈hal-00804416〉

Partager

Métriques

Consultations de la notice

104