Case Study: The Research Institute in Communications and Cybernetic of Nantes achieves accurate parallel robot visual servoing with Hexagon Adams

Adams simulation helps validate a concept called the “hidden robot model” to improve visual serving accuracy

The Research Institute in Communications and Cybernetic of Nantes (IRCCyN) faced a challenge in improving robot accuracy through visual servoing. When controlling a parallel robot by observing its legs instead of its end-effector, the end-effector would sometimes fail to reach its intended position due to an unexplained mapping issue in the controller. Hexagon's Adams simulation software was used to help understand and analyze this problem.

Hexagon's Adams, integrated with Simulink, provided the platform to simulate and validate a new theoretical concept called the "hidden robot model." This simulation accurately predicted the robot's behavior across three different control schemes, confirming which methods successfully achieved the desired end-effector position and orientation. The results, which were later corroborated by physical experiments, validated the theory and eliminated the need for IRCCyN researchers to write complex dynamic equations for parallel robots.

The Research Institute in Communications and Cybernetic of Nantes

Sébastien Briot

Researcher