TY - GEN
T1 - Towards vision-based control of cable-driven parallel robots
AU - Dallej, Tej
AU - Gouttefarde, Marc
AU - Andreff, Nicolas
AU - Michelin, Micaël
AU - Martinet, Philippe
PY - 2011
Y1 - 2011
N2 - This paper deals with the vision-based control of cable-driven parallel robots. First, a 3D pose visual servoing is proposed, where the end-effector pose is indirectly measured and used for regulation. This method is illustrated and validated on a cable-driven parallel robot prototype. Second, to take into account the dynamics of the platform and using a Cartesian pose and velocity estimator, a vision-based computed torque control is developed and validated in simulation.
AB - This paper deals with the vision-based control of cable-driven parallel robots. First, a 3D pose visual servoing is proposed, where the end-effector pose is indirectly measured and used for regulation. This method is illustrated and validated on a cable-driven parallel robot prototype. Second, to take into account the dynamics of the platform and using a Cartesian pose and velocity estimator, a vision-based computed torque control is developed and validated in simulation.
UR - https://www.scopus.com/pages/publications/84455206443
U2 - 10.1109/IROS.2011.6048256
DO - 10.1109/IROS.2011.6048256
M3 - Conference contribution
AN - SCOPUS:84455206443
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2855
EP - 2860
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -