Series-parallel dualities in actively coordinated mechanisms
International Journal of Robotics Research
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Parallel Robots
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ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
Robust nonlinear task space control for 6 DOF parallel manipulator
Automatica (Journal of IFAC)
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ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
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IEEE Transactions on Information Technology in Biomedicine
Dynamic visual servoing from sequential regions of interest acquisition
International Journal of Robotics Research
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
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In this article, we review the dynamic control of parallel kinematic machines. It is shown that the classical control strategies from serial robotics generally used for parallel kinematic machine have to be rethought. Indeed, it is first shown that the joint space control is not relevant for these mechanisms for several reasons such as mechanical behavior or computational efficiency. Consequently, Cartesian space control should be preferred over joint space control. Nevertheless, some modifications to the well-known Cartesian space control strategies of serial robotics are proposed to make them perfectly suited to parallel kinematic machines, particularly a solution using an exteroceptive measure of the end-effector pose. The expected improvement in terms of accuracy, stability and robustness are discussed. A comparison between the main presented strategies is finally performed both in simulation and experiments.