%0 Journal Article
%A Chikh, Lotfi
%A Baradat, Cédric
%A Poignet, Philippe
%A Pierrot, François
%A Michelin, Micaël
%T AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets
%D 2011
%@ 1296-2139
%U https://hdl.handle.net/11556/4618
%X A 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.
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