First Results on the Design of High Speed Parallel Robots in Presence of Uncertainty

Nacim Ramdani 1, 2 Marc Gouttefarde 3 François Pierrot 3 Jean-Pierre Merlet 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper reports the first results of an ongoing work which aims at providing numerical tools useful to the design of a family of high speed parallel robots. The objective is to find sets of feasible values for the design parameters unlike more usual design procedures relying on optimization techniques. These tools are mainly based on interval analysis and take into account the dynamics of the parallel robots. Moreover, they can deal with bounded uncertainties that affect some physical parameters involved in the dynamics. Following the statement of the design problems considered, a general method is presented. Then, this method is illustrated with the study of a 2-DOF parallel robot.
Document type :
Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00327649
Contributor : Marc Gouttefarde <>
Submitted on : Thursday, October 9, 2008 - 10:37:59 AM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

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  • HAL Id : lirmm-00327649, version 1

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Nacim Ramdani, Marc Gouttefarde, François Pierrot, Jean-Pierre Merlet. First Results on the Design of High Speed Parallel Robots in Presence of Uncertainty. IROS'08: International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France, France. pp.2410-2415. ⟨lirmm-00327649⟩

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