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, pp.1-15
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https://hal.archives-ouvertes.fr/hal-00804874
Contributeur : Martine Azema <>
Soumis le : mardi 26 mars 2013 - 14:45:45
Dernière modification le : jeudi 11 janvier 2018 - 06:17:20

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  • HAL Id : hal-00804874, version 1

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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, pp.1-15. 〈hal-00804874〉

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