A5073030051- Robotic Mechanisms and Dynamics
- Advanced Surface Polishing Techniques
- Soft Robotics and Applications
- Robot Manipulation and Learning
- Modular Robots and Swarm Intelligence
- Dynamics and Control of Mechanical Systems
- Robotic Path Planning Algorithms
- Iterative Learning Control Systems
- Advanced Numerical Analysis Techniques
- Manufacturing Process and Optimization
- Piezoelectric Actuators and Control
- Cellular Automata and Applications
- Vibration and Dynamic Analysis
- Robotic Locomotion and Control
- Space Satellite Systems and Control
- Underwater Vehicles and Communication Systems
- Control Systems in Engineering
- Advanced Vision and Imaging
- DNA and Biological Computing
- Adaptive Control of Nonlinear Systems
- Innovations in Concrete and Construction Materials
- Robotics and Sensor-Based Localization
- Teleoperation and Haptic Systems
- Prosthetics and Rehabilitation Robotics
- Underwater Acoustics Research
Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
2016-2025
Université de Montpellier
2015-2024
Centre National de la Recherche Scientifique
2015-2024
Institut national de recherche en informatique et en automatique
2006-2013
Université Laval
2004-2009
The mobile platform of a parallel cable-driven mechanism is connected in to base by lightweight links, such as cables. Since the cables can only work tension, set poses for which balance any external wrench, i.e., fully constrained, often limited or even nonexistent. Thus, study and determination this poses, called wrench-closure workspace (WCW), an important issue mechanisms. In paper, case planar mechanisms addressed. Theorems that characterize WCW are proposed. Then, these theorems used...
This paper deals with the wrench-feasible workspace (WFW) of <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">n</i> -degree-of-freedom parallel robots driven by or more than cables. The WFW is set mobile platform poses for which cables can balance any wrench a given wrenches, such that tension in each cable remains within prescribed range. Requirements nonnegative tensions, as well maximum admissible are thus satisfied. determination an important...
Redundancy resolution of redundantly actuated cable-driven parallel robots (CDPRs) requires the computation feasible and continuous cable tension distributions along a trajectory. This paper focuses on n-DOF CDPRs driven by n + 2 cables, since, for = 6, these are relevant in many applications. The set tensions (n 2)-cable is 2-D convex polygon. An algorithm that determines vertices this polygon clockwise or counterclockwise order first introduced. efficient can deal with infeasibility. It...
This paper is dedicated to the geometry selection of a redundantly actuated cable-suspended parallel robot intended manipulate heavy payloads over wide workspace. Cable-suspended refers here cable-driven robots in crane-like setting, where all cable drawing points are located on top base frame, gravity being used keep cables taut. Geometry consists determining relative positions frame and attachment mobile platform together with arrangement between these two sets points. An original...
This article proposes a nonlinear model predictive control (NMPC) strategy for the position tracking of cable-driven parallel robots (CDPRs). The NMPC formulation handles explicitly cable tensions and their limits. Accordingly, tension distribution is performed as an integral part feedback strategy, which notably allows CDPR to operate on wrench-feasible workspace boundaries without failure. In order integrate minimization within formulation, concept wrench equivalent optimality (WEO)...
The wrench-feasible workspace (WFW) of a parallel cable-driven mechanism is the set poses its mobile platform for which cables can balance any wrench in specified wrenches, such that tension each cable remains within prescribed range. WFW fundamental since it takes into account both requirement non-negative and maximum admissible tension. This paper addresses problem determination n-degree-of-freedom mechanisms driven by more than n cables. Interval analysis based methods allow to determine...
This paper deals with the control of a 6-DOF cable-suspended parallel robot (CSPR) able to perform tasks such as pick-and-place trajectories over large workspace. In order maximize ratio between workspace and its overall dimensions, actuation redundancy can be used. The redundantly actuated CSPR turns challenging realtime embeddable algorithm for distributing cable tensions should used, together suitable scheme. proposes computationally efficient tension distribution implemented within...
An alternative approach to standard computed torque with feedback linearization is proposed in this paper control cable-driven parallel robots (CDPRs) highly flexible cables. Exteroceptive used measure the end-effector Cartesian position at a high sampling rate. Stability demonstrated using singular perturbation theory. The scheme experimentally validated on planar 3-degree-of-freedom CDPR and its efficiency assessed by comparison simple kinematic law.
A cable-driven parallel robot (CDPR) was developed for the installation of curtain wall modules (CWM). The research addressed question whether CDPR capable installing CWMs with sufficient accuracy while being competitive compared to conventional manual methods. In order develop and test such a system, conceptual framework that consisted three sub-systems defined. tests, carried out in two close-to-real demonstration buildings, revealed an absolute CWM 4 23 mm. working time reduced 0.51 h....
Cable-driven robots are currently extensively studied. Generally, for this type of manipulators, cables considered to be massless and inextensible. But large working volume applications, their mass cannot neglected. Based on a well-known model which describes the profile cable under action its own weight, inverse forward kinematics minimally constrained cable-driven manipulators can numerically computed. This paper studies effects taking into account by comparison classical model. It...
This paper introduces a new simplified static analysis of parallel robots driven by inextensible cables non-negligible mass. It is based on known hefty cable modeling which seems to have been overlooked in previous works cable-driven robots. obtained from well-known sagging modeling, as the catenary, assuming that sag relatively small. The use catenary has shown lead non-linear set equations describing kinetostatic behavior On contrary, proposed yields linear relationship between (components...
Cable-driven parallel robots (CDPR) are efficient manipulators able to carry heavy payloads across large workspaces. Therefore, the dynamic parameters such as mobile platform mass and center of location may considerably vary. Without any adaption, erroneous parametric estimate results in mismatch terms added closed-loop system, which decrease robot performances. In this paper, we introduce an adaptive dual-space motion control scheme for CDPR. The proposed method aims at increasing tracking...
In this paper, a new type of large-dimension reconfigurable suspended cable-driven parallel robots (CDPR) is introduced as means to substitute for conventional methods handing large and heavy parts across wide workspaces. The reconfigurability the proposed CDPR offers better performances in term workspace, flexibility power consumption. A systematic procedure solve complex nonlinear optimization problem find optimal reconfiguration robot presented. Critical issues regarding various...
The maximum cable tension is a crucial parameter in the design of cable-driven parallel robot (CDPR) since various mechanical components CDPR must be designed to safely withstand loads induced by this tension. For CDPRs having number cables at least equal its degree freedoms (DOFs), article deals with determination smallest vectors allowing required wrench set feasible. problem formulated as minimization infinity norm under linear inequality constraints, which include wrench-feasibility...
<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> The intrinsic interaction of a robotic system that includes two 6-degree-of-freedom cable-driven platforms sharing common workspace might result in cable interferences for random trajectories. This paper presents and analyzes computational methods geometrically determining managing these any trajectory constrained with variable loads. algorithms considered determine which can be released from an...
This paper analyzes the possible contribution of actuation redundancy in obtaining very high acceleration with parallel robot manipulators. study is based on redundant and nonredundant Delta/Par4-like manipulators, which are frequently used for pick-and-place applications, addresses cases translational manipulators (also called 3T manipulators) Schoenflies motions 3T1R manipulators). A dynamic model, valid both to analyze moving platform’s capabilities: (i) at zero speed any direction (ii)...
This paper discusses the use of large-dimension reconfigurable suspended cable-driven parallel robots (CDPR) to substitute for conventional gantry nacelles that carry workers in an airplane maintenance workshop. The reconfiguration CDPR is considered as a multi-objective optimization problem with two performance indices. One criterion sum cable tensions which directly related power consumption CDPR. other normalized upper bound on infinitesimal displacement mobile platform, used here means...