Video Gallery
Simulations of the aerial parallel robot of LS2N
Description
ADAMS simulation of the LS2N aerial parallel robot (work of one of my PhD students, D. Six)
D. Six, A. Chriette, S. Briot, P. Martinet, "Dynamic Modeling and Trajectory Tracking Controller of a Novel Flying Parallel Robot," Proceedings of the 20th IFAC World Congress, Toulouse, France, 2017.
Detecting assembly mode change via encoder measurements only
Description
Work of one of my PhD std, Adrien Koessler, which consist at detecting the assembly mode change when crossing a Type 2 singularity while reading of encoder measurements only.
An interval-based observer is encoded for doing so. More information in the paper
A. Koessler, A. Goldsztejn, S. Briot, and N. Bouton. “Certified Detection of Parallel Robot Assembly Mode under Type 2 Singularity Crossing Trajectories”.Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA 2017). May 29 - June 3, Marina Bay Sands Convention Centre, Singapore, 2017.
First tests of trajectory tracking on the aerial parallel robot
Description
Work of one of my PhD std, Damien Six.. More information in the paper
D. Six, A. Chriette, S. Briot, P. Martinet, "Dynamic Modeling and Trajectory Tracking Controller of a Novel Flying Parallel Robot," Proceedings of the 20th IFAC World Congress, Toulouse, France, 2017.
The DexTAR robot of IRCCyN crossing several Type 2 singularities
Description
More information in
D. Six, S. Briot, A. Chriette and P. Martinet. “A Controller for Avoiding Dynamic Model Degeneracy of Parallel Robots during Type 2 Singularity Crossing”. Proceedings of the 6th European Conference on Mechanism Science (EuCoMeS2016). Nantes, France, September 2016.
The DexTAR robot of ETS trying to change its assembly mode
Description
Two types of controllers are tested:
- a classical computed torque control law
- a multi-model computed torque control law.
With the first controller, even if the trajectory is optimized for assembly mode changing, due to numerical issues near the singularity, the robot fails to change the assembly mode.
With the second controller, which avoids the numerical issues near the singularity, the robot succeeds to change the assembly mode.
The DexTAR of ETS carrying out some pick-and-place operations
Description
The robot, for the same operation, is required to change either its working mode or its assembly mode.
This video shows the full potential of assembly mode changing as, for this same application, the robot is achieving the trajectory in 13 seconds by assembly mode changing (to be compared with the trajectory of 21 seconds for the same task with working mode changing).
The DexTAR of ETS crossing singularities at high-speed
Description
The robot controller, combined with optimal trajectory planning (based on the fact that a criterion avoiding the degeneracy of the robot dynamics is respected), allows the crossing of Type 2 singularities at high-speed with excellent robustness properties.
The PAMINSA failing to cross Type 2 singularities
Description
The PAMINSA robot of INSA of Rennes, developed during my PhD thesis, is trying to cross a Type 2 singularity, but it fails. This is due to the fact that the desired trajectory does not respect a criterion avoiding the degeneracy of the robot dynamic model.
The PAMINSA succeeding to cross Type 2 singularities
Description
The PAMINSA robot of INSA of Rennes, developed during my PhD thesis, is trying to cross a Type 2 singularity, and it succeeds. This is due to the fact that the desired trajectory does respect a criterion avoiding the degeneracy of the robot dynamic model.
It should be noted that, at the singular configuration, the robot has difficulties to pass due to the fact that it was not calibrated (as a result, it was not exactly at the singular configuration).
The DexTAR robot at IRCCyN crossing a Type 2 (parallel) singularity
Description
This is only possible by defining optimal trajectories avoiding the degeneracy of the robot dynamics and using an advanced controller.
PAMINSA ADAMS CAD front view
Description
PAMINSA manipulator is a decoupled parallel robot developed at the INSA of Rennes in the scope of the PhD thesis of Sébastien Briot.
The decoupling properties of the robot makes it possible to raise an important payload to a fixed altitude by powerful actuators and, then, to displace it on the horizontal plane by less powerful actuators.
Motions of PAMINSA prototype with and without loading
Description
PAMINSA manipulator is a decoupled parallel robot developed at the INSA of Rennes in the scope of the PhD thesis of Sébastien Briot.
The decoupling properties of the robot makes it possible to raise an important payload to a fixed altitude by powerful actuators and, then, to displace it on the horizontal plane by less powerful actuators.
IRSBot-2 robot from IRCCyN, along a test trajectory at 5G, 5m/s
Description
The IRSBot-2 is a 2-dof translational parallel robot developped at IRCCyN in the scope of the French ANR project ARROW.
Its spatial architecture provides a high stiffness along the normal to the plane of motion, good accuracy and good dynamic performance.
It can reach velocities up to 6m/s and accelerations up to 20G in a 800 mm x 100 mm rectangular workspace.
Its repeatability is lower than 30µm throughout the manipulator workspace, and deformations lower than 120µm under a load of 20N.
More information on the ARROW project on http://arrow.irccyn.ec-nantes.fr/
The IRSBot-2 of IRCCyN on a test trajectory at 20G, 6m/s
Description
The IRSBot-2 is a 2-dof translational parallel robot developped at IRCCyN in the scope of the French ANR project ARROW.
Its spatial architecture provides a high stiffness along the normal to the plane of motion, good accuracy and good dynamic performance.
It can reach velocities up to 6m/s and accelerations up to 20G in a 800 mm x 100 mm rectangular workspace.
Its repeatability is lower than 30µm throughout the manipulator workspace, and deformations lower than 120µm under a load of 20N.
More information on the ARROW project on http://arrow.irccyn.ec-nantes.fr/