A Vision-based Computed Torque Control for Parallel Kinematic Machines

摘要

In this paper, a novel approach for parallel kinematic machine controlrelying on a fast exteroceptive measure is implemented and validated on theOrthoglide robot. This approach begins with rewriting the robot models as afunction of the only end-effector pose. It is shown that such an operationreduces the model complexity. Then, this approach uses a classical Cartesianspace computed torque control with a fast exteroceptive measure, reducing thecontrol schemes complexity. Simulation results are given to show the expectedperformance improvements and experiments prove the practical feasibility of theapproach.