Prof. Dr. Philippe Martinet

LASMEA, Groupe GRAVIR, University Blaise Pascal, University Campus Cezeaux, CEDEX, 63177 Aubiere, France

Prof. Dr. Philippe Martinet

LASMEA, Groupe GRAVIR, University Blaise Pascal, University Campus Cezeaux, CEDEX, 63177 Aubiere, France

Co-authors

Following

Followers

Research Focus & Metrics

Explore full metrics on Scilit

Academic Career Length

31Years (1996-Present)

(Calculated once Scilit publication data is synced: current year − year of first publication + 1)

Representative Publications

View All Publications

12 June 2006 in Autonomous Robots

Journal Article

High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks

Roland Lenain

Benoit Thuilot

Christophe Cariou

Philippe Martinet

1 March 2009 in The International Journal of Robotics Research

Journal Article

A Review on the Dynamic Control of Parallel Kinematic Machines: Theory and Experiments

Flavien Paccot

Nicolas Andreff

Philippe Martinet

In this article, we review the dynamic control of parallel kinematic machines. It is shown that the classical control strategies from serial robotics generally used for parallel kinematic machine have to be rethought. Indeed, it is first shown that the joint space control is not relevant for these mechanisms for several reasons such as mechanical behavior or computational efficiency. Consequently, Cartesian space control should be preferred over joint space control. Nevertheless, some modifications to the well-known Cartesian space control strategies of serial robotics are proposed to make them perfectly suited to parallel kinematic machines, particularly a solution using an exteroceptive measure of the end-effector pose. The expected improvement in terms of accuracy, stability and robustness are discussed. A comparison between the main presented strategies is finally performed both in simulation and experiments.

25 June 2003

Conference Paper

Position based visual servoing: keeping the object in the field of vision

B. Thuilot

Philippe Martinet

L. Cordesses

J. Gallice

Visual servoing requires an object in the field of view of the camera, in order to control the robot evolution. Otherwise, the virtual link is broken and the control loop cannot continue to be closed. In this paper, a novel approach is presented in order to guarantee that the object remains in the field of view of the camera during the whole robot motion. It consists in tracking an iteratively computed trajectory. A position based modeling adapted to a moving target object is established, and is used to control the trajectory. A nonlinear decoupling approach is then used to control the robot. Experiments, demonstrating the capabilities of this approach, have been conducted on a Cartesian robot connected to a real time vision system, with a CCD camera mounted on the end effector of the robot.