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Robust 2 1/2D Visual Servoing of a Cable-Driven Parallel Robot Thanks to Trajectory Tracking

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Figure

Fig. 1. Schematic of a spatial CDPR with eight cables, a camera mounted on its MP and an object in the workspace
Fig. 4. ACROBOT: a CDPR prototype located at IRT Jules Verne, Nantes
Fig. 5. Workspace visualizations for ACROBOT: a) SFW; b) CSW for 2½D VS with minimal perturbations in the system and constant MP orientation;
Fig. 6. 2½D VS experiments on ACROBOT: a) the trajectory of AprilTag center-point in the image; b) The pixel deviation from the ideal straight-line trajectory; c) the trajectory of the camera in the frame F b ; d) the deviation from the ideal straight-line

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