A Vision-based Computed Torque Control for Parallel Kinematic Machines
  In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the only end-effector pose. It is shown that such an operation reduces the model complexity. Then, this approach uses a classical Cartesian space computed torque control with a fast exteroceptive measure, reducing the control schemes complexity. Simulation results are given to show the expected performance improvements and experiments prove the practical feasibility of the approach. 
Flavien Paccot (LASMEA), Philippe Lemoine (IRCCyN), Nicolas Andreff   (LASMEA), Damien Chablat (IRCCyN), Philippe Martinet (...