High Speed Parallel Kinematic Manipulator State Estimation from Legs Observation.

Erol Ozgür (1) , Nicolas Andreff (2) , Redwan Dahmouche (2) , Philippe Martinet (3)

1 IP - Institut Pascal
2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
3 ECN - École Centrale de Nantes

To control dynamics of a parallel robot, we should measure the state feedback accurately and fast. In this paper, we show how to estimate positions and velocities simultaneously (i.e., the state feedback) at a reasonable accuracy and speed. We did this using only the sequential visual contours of the legs. A single-iteration virtual visual servoing scheme regulates rapidly an error of these contours. We validated this theory, a step to control parallel robots at high speed by their leg kinematics, with simulations and experiments.

Domaines: Micro et nanotechnologies/Microélectronique

Erol Ozgür, Nicolas Andreff, Redwan Dahmouche, Philippe Martinet. High Speed Parallel Kinematic Manipulator State Estimation from Legs Observation.. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'13., Jan 2013, Japan. pp.426-429. ⟨hal-00960054⟩