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AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets

Abstract : A two degrees-of-freedom pneumatically driven parallel robot has been developed for pickand- 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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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00616516
Contributor : François Pierrot <>
Submitted on : Monday, August 22, 2011 - 6:29:37 PM
Last modification on : Tuesday, March 9, 2021 - 5:09:34 PM

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Lotfi Chikh, Cédric Baradat, Philippe Poignet, François Pierrot, Micaël Michelin. AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets. Mechanics & Industry, EDP Sciences, 2011, 12, pp.239-243. ⟨10.1051/meca/2011106⟩. ⟨lirmm-00616516⟩

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