3D Pose Visual Servoing Relieves Parallel Robot Control from Joint Sensing

In this paper, we show that visual feedback reduces the complexity of parallel robot Cartesian control. Namely, 3D pose visual servoing, where the end-effector pose is indirectly measured and used for regulation, is shown to be well suited to this task since it relieves the control from the difficult forward kinematic problem. Moreover, this complexity reduction is not coming with an increase of the implementation complexity since off-the-shelf hardware and software are now available for visual servoing. It is also shown that such a control gets rid of joint sensors. All this makes 3D pose visual servoing the most straightforward Cartesian control for parallel robots. Experimental results are provided using an open source visual servoing C++ library