Vision/force control of parallel robots
Vision/force control of parallel robots
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DOI：
10.1016/j.mechmachtheory.2011.05.010
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发表时间：
2011-10-01
影响因子：
5.2
通讯作者：
Tadjine, M.
中科院分区：
文献类型：
--
作者：
Bellakehal, S.;Andreff, N.;Tadjine, M.
本文讨论了并联机床的力和位置控制问题。笛卡尔空间计算的扭矩控制，以实现力和位置伺服直接在基于传感器的控制架构内的任务空间。该方法的独创性在于使用视觉系统作为力控制目的的并联机床的外感受性姿态测量。三个不同的机械结构，不同的自由度被认为是验证的方法。(C)2011爱思唯尔有限公司版权所有。
In this paper, force and position control of parallel kinematic machines are discussed. Cartesian space computed torque control is applied to achieve force and position servoing directly in the task space within a sensor-based control architecture. The originality of the approach resides in the use of a vision system as an exteroceptive pose measurement of a parallel machine tool for force control purposes. Three different mechanical structures with different degrees of freedom are considered to validate the approach. (C) 2011 Elsevier Ltd. All rights reserved.