Chikh, LotfiBaradat, CédricPoignet, PhilippePierrot, FrançoisMichelin, Micaël2024-07-242024-07-242011Chikh , L , Baradat , C , Poignet , P , Pierrot , F & Michelin , M 2011 , ' AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets ' , Mecanique et Industries , vol. 12 , no. 3 , pp. 239-243 . https://doi.org/10.1051/meca/20111061296-2139https://hdl.handle.net/11556/4618A 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.5frainfo:eu-repo/semantics/openAccessjournal article10.1051/meca/2011106ModelingParallel roboticsPneumatic actuatorsGeneral Materials ScienceMechanical EngineeringIndustrial and Manufacturing Engineeringhttp://www.scopus.com/inward/record.url?scp=79960693804&partnerID=8YFLogxK