Related papers: Design and Implementation of a Controller for Hexa…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body compliance. However, for the one-step HQP, the solution can…
The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid…
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the…
In the realm of contemporary materials testing, the demand for scalability, adaptability, parallelism, and speed has surged due to the proliferation of diverse materials and testing standards. Traditional controller-based systems often fall…
Bio-inspired control of motion is an active field of research with many applications in real world tasks. In the case of robotic systems that need to exhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots), Central…
The recent promises of Model Predictive Control in robotics have motivated the development of tailored second-order methods to solve optimal control problems efficiently. While those methods benefit from strong convergence properties,…
This paper presents an overview of a design methodology for the optimal synthesis of hybrid mechanisms. Hybrid mechanisms have been defined as multi-degree of freedom systems where the input motions are supplied by different motor types. In…
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In…
This work aims to develop an integrated control strategy for Brushless Direct Current Motors for a wide range of applications in robotics systems. The controller is suited for both high torque - low speed and high-speed control of the…
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
CNC manufacturing is a process that employs computer numerical control (CNC) machines to govern the movements of various industrial tools and machinery, encompassing equipment ranging from grinders and lathes to mills and CNC routers.…
In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the…
Precision motion stages are an essential part of a wide range of manufacturing equipment, and their motion performance are critical to the quality and throughput of the systems. The drastically increasing demand for higher manufacturing…
The current language for CNC programming is G-code which dates from the beginning of the eighties with the norm ISO 6983. With the new technologies, G-code becomes obsolete. It presents drawbacks that create a rupture in the numerical chain…
In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
High Performance Computing (HPC) aims at providing reasonably fast computing solutions to scientific and real life problems. The advent of multicore architectures is noticeable in the HPC history, because it has brought the underlying…
This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired…
Controlling contacts is truly challenging, and this has been a major hurdle to deploying industrial robots into unstructured/human-centric environments. More specifically, the main challenges are: (i) how to ensure stability at all times;…