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Visual Servoing of a Gough-Stewart Parallel Robot without Proprioceptive Sensors

Abstract : In this paper, it is shown that computer vision, used as a redundant metrology mean, allows the control of a Gough-Stewart parallel robot without using any joint sensor. This result is highly relevant for the control of parallel mechanisms hard to instrument (for instance , hydraulically actuated ones) or with large displacements (for instance, large telescopes positioning systems). It is also very interesting since it turns computer vision, usually considered as an exteroceptive sensor, into a proprioceptive one, yet preserving its exteroceptive nature and non contact measurement.
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https://hal.inria.fr/hal-02467212
Contributor : Philippe Martinet <>
Submitted on : Tuesday, February 4, 2020 - 9:11:32 PM
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  • HAL Id : hal-02467212, version 1

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Nicolas Andreff, Philippe Martinet. Visual Servoing of a Gough-Stewart Parallel Robot without Proprioceptive Sensors. Fifth International Workshop on Robot Motion and Control, ROMOCO'05, Jun 2005, Dymaczewo-Poznan, Poland. pp.225-230. ⟨hal-02467212⟩

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