Références

被引：0

作者：

Chikh L. ^{[1
]}

Baradat C. ^{[1
]}

Poignet P. ^{[2
]}

Pierrot F. ^{[2
]}

Michelin M. ^{[1
]}

机构：

[1] TECNALIA, Cap Omega, 34960 Montpellier, Rd-Pt B. Franklin

[2] LIRMM, Département de Robotique, 34095 Montpellier

来源：

Mecanique et Industries | 2011年 / 12卷 / 03期

关键词：

Modeling; Parallel robotics; Pneumatic actuators;

D O I：

10.1051/meca/2011106

中图分类号：

学科分类号：

摘要：

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. © AFM, EDP Sciences 2011.

引用

页码：239 / 243

页数：4

共 10 条

[1]

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[7]

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[8]

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[9]

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