ICRA 2011 Paper Abstract


Paper WeA108.2

Ozgur, Erol (Blaise Pascal University), Bouton, Nicolas (LaMI), Andreff, Nicolas (Université de Franche Comté), Martinet, Philippe (Blaise Pascal university)

Dynamic Control of the Quattro Robot by the Leg Edges

Scheduled for presentation during the Regular Sessions "Parallel Robots I" (WeA108), Wednesday, May 11, 2011, 08:35−08:50, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Parallel Robots, Motion Control of Manipulators, Computer Vision for Robotics and Automation


This paper discusses variable selection for the efficient dynamic control of the Quattro parallel robot through an inverse dynamic model expressed by means of leg orientations. A selection is made within a group of variables where each can imply the state of the robot. Besides, in this work, steering a parallel robot dynamically using its self-projection onto the image plane (where the edges of the lower-legs are exploited in control) is proposed and validated for the first time. In the light of the realistic control simulation, the formative points of better control of the Quattro robot are figured out.



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