Robust 2 1/2D Visual Servoing of a Cable-Driven Parallel Robot Thanks to Trajectory Tracking

Zane Zake (1, 2, 3) , François Chaumette (4) , Nicolò Pedemonte (2) , Stéphane Caro (1, 5, 3)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 IRT Jules Verne - Institut de Recherche Technologique Jules Verne [Bouguenais]
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 RAINBOW - Sensor-based and interactive robotics
5 CNRS - Centre National de la Recherche Scientifique

Mots clés: Parallel Robots; Tendon/Wire Mechanism; Motion Control; Visual Servoing; Sensor-based Control

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Zane Zake, François Chaumette, Nicolò Pedemonte, Stéphane Caro. Robust 2 1/2D Visual Servoing of a Cable-Driven Parallel Robot Thanks to Trajectory Tracking. IEEE Robotics and Automation Letters, 2020, 5 (2), pp.660-667. ⟨10.1109/LRA.2020.2965033⟩. ⟨hal-02429717⟩