High speed parallel kinematic manipulator state estimation from legs observation

摘要

To control dynamics of a parallel robot, we should measure the state feedback accurately and fast. In this paper, we show how to estimate positions and velocities simultaneously (i.e., the state feedback) at a reasonable accuracy and speed. We did this using only the sequential visual contours of the legs. A single-iteration virtual visual servoing scheme regulates rapidly an error of these contours. We validated this theory, a step to control parallel robots at high speed by their leg kinematics, with simulations and experiments.