並列運動マシンのための視覚ベース計算トルク制御
A Vision-based Computed Torque Control for Parallel Kinematic Machines
並列運動マシンのモデルをエンドエフェクタ姿勢のみの関数として書き換えて簡素化し、高速な視覚計測を用いた計算トルク制御をOrthoglideロボットで実装・検証した論文。
著者: Flavien Paccot, Philippe Lemoine, Nicolas Andreff, Damien Chablat, Philippe Martinet
分類: cs.RO
原文アブストラクト
In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the only end-effector pose. It is shown that such an operation reduces the model complexity. Then, this approach uses a classical Cartesian space computed torque control with a fast exteroceptive measure, reducing the control schemes complexity. Simulation results are given to show the expected performance improvements and experiments prove the practical feasibility of the approach.
