Stability Analysis of Pose-Based Visual Servoing Control of Cable-Driven Parallel Robots
Cable-driven parallel robots are robots with cables instead of rigid links. The use of cables introduces advantages such as high payload to weight ratio, large workspaces, high velocity capacity. Cables also bring drawbacks such as bad accuracy when the robot model is not accurate. In this paper, a visual servoing control is proposed in order to achieve high accuracy no matter the robot model precision. The stability of the solution is analyzed to determine the tolerable perturbation limits. Experimental validation is performed both in simulation and on a real robot to highlight the differences.
Keywordscable-driven parallel robots visual servoing stability
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This work is supported by IRT Jules Verne (French Institute in Research and Technology in Advanced Manufacturing) in the framework of the PERFORM project.
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