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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.
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https://hal.archives-ouvertes.fr/hal-00804416
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Submitted on : Monday, March 25, 2013 - 2:48:52 PM
Last modification on : Thursday, January 11, 2018 - 6:17:20 AM

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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⟩

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