Browsing by Keyword "Parallel robotics"
Now showing 1 - 1 of 1
Results Per Page
Sort Options
Item AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets(2011) Chikh, Lotfi; Baradat, Cédric; Poignet, Philippe; Pierrot, François; Michelin, Micaël; Tecnalia Research & InnovationA two degrees-of-freedom pneumatically driven parallel robot has been developed for pick-and-place of payloads comprised between 5 and 20 kg using standard double acting cylinders cheaper than electrical motors. After the general presentation of the robot, the actuator models are developed and a novel control strategy is introduced based on a cascade scheme with a predictive position controller and an inner H∞ force control. Some experimental results are then presented and analyzed in order to show the effectiveness of the controllers.