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Stability Analysis of Pose-Based Visual Servoing Control of Cable-Driven Parallel Robots

Abstract : Cable-driven parallel robots are robots with cables instead of rigid links. The use of cables introduces advantages such as high pay-load to weight ratio, large workspaces, high velocity capacity. Cables also bring drawbacks such as bad accuracy when the robot model is not accurate. In this paper, a visual servoing control is proposed in order to achieve high accuracy no matter the robot model precision. The stability of the solution is analyzed to determine the tolerable perturbation limits. Experimental validation is performed both in simulation and on a real robot to highlight the differences.
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https://hal.archives-ouvertes.fr/hal-02127451
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Submitted on : Monday, May 13, 2019 - 2:37:17 PM
Last modification on : Wednesday, October 13, 2021 - 3:52:07 PM

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Zane Zake, Stéphane Caro, Adolfo Suarez Roos, François Chaumette, Nicolò Pedemonte. Stability Analysis of Pose-Based Visual Servoing Control of Cable-Driven Parallel Robots. CableCon 2019 - Fourth International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.1-12, ⟨10.1007/978-3-030-20751-9_7⟩. ⟨hal-02127451⟩

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