Parallel Vision/Force Interactive Control of Parallel Robots with Uncertainty Compensation

Abstract

This paper develops a novel force control method-ology: parallel vision/force interactive control, and applies it to the control of parallel robots. This control methodology is an advanced vision-based computed torque control that directly controls position and force in the image feature space. The creativity of this approach is the pose estimation of a parallel robot with visual information and coupling force feedback and vision information in parallel. A Gough-Stewart platform is taken into account to validate this approach.