Contribution to generic modeling and vision-based control of a broad class of fully parallel robots

Abstract : This paper deals with a generic modeling and vision-based control approach for a broad class of parallel mechanisms. First, a generic architecture representing several families is proposed. Second, inspired by the geometry of lines, a generic differential inverse kinematic model according to the proposed generic structure is introduced. Finally, based on the image projection of cylindrical legs, a kinematic vision-based control using legs observation is presented. The approach is illustrated and validated on the Gough–Stewart and Par4 parallel robots.
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https://hal.inria.fr/hal-01966655
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Submitted on : Thursday, November 21, 2019 - 9:14:09 PM
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Tej Dallej, Nicolas Andreff, Philippe Martinet. Contribution to generic modeling and vision-based control of a broad class of fully parallel robots. Robotica, Cambridge University Press, 2018, 36 (12), pp.1874-1896. ⟨10.1017/S0263574718000784⟩. ⟨hal-01966655⟩

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