A Novel Approach to Vision-Based Computed Torque Control of Parallel Robots

This paper proposes a novel vision sensing method to be used in vision-based dynamic identification and control of parallel robots. Indeed, it is shown that in the latter problem one requires to estimate (to the least) or measure (to the best) the end-effector pose and its time derivatives. The sensor takes advantage of the image deformations induced by rolling shutter in CMOS image sensors. We derive a method compensating for the rolling shutter deformations to deliver an accurate 3D pose and exploiting them to also estimate the full 3D velocity transforming the CMOS camera into an exteroceptive pose and velocity sensor. We present control schemes which illustrate how the developed visual sensor is particularly adapted for parallel mechanisms dynamic control. Experimental results with real data confirm the relevance of the approach and show the sensor good practical measurement accuracy.

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