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

Published online by Cambridge University Press:  15 August 2018

Tej Dallej Open the ORCID record for Tej Dallej [Opens in a new window] ,
Nicolas Andreff  and
Philippe Martinet Open the ORCID record for Philippe Martinet [Opens in a new window]
Tej Dallej*
Affiliation:
Institut Pascal, UBP/CNRS/SIGMA, Clermont-Ferrand, France
Nicolas Andreff*
Affiliation:
Institut Pascal, UBP/CNRS/SIGMA, Clermont-Ferrand, France Institut FEMTO-ST, Univ. Franche-Comté/CNRS/ENSMM/UTBM, Besançon, France
Philippe Martinet*
Affiliation:
Institut Pascal, UBP/CNRS/SIGMA, Clermont-Ferrand, France INRIA Sophia Antipolis Méditerranée, France
*
*Corresponding author. E-mail: tdallej@yahoo.fr, nicolas.andreff@femto-st.fr, philippe.Martinet@inria.fr
*Corresponding author. E-mail: tdallej@yahoo.fr, nicolas.andreff@femto-st.fr, philippe.Martinet@inria.fr
*Corresponding author. E-mail: tdallej@yahoo.fr, nicolas.andreff@femto-st.fr, philippe.Martinet@inria.fr
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Summary

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.

Keywords

Visual ServoingControlModelingParallel RobotsKinematics
Type
Articles
Information
Robotica , Volume 36 , Issue 12 , December 2018 , pp. 1874 - 1896
Copyright
Copyright © Cambridge University Press 2018 

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