Complex Systems and Parsimony

The minimization of the ecological footprint of complex systems is the common denominator of this theme. Fugal mechatronic systems allow, by their original structure, to minimize the energy and raw material used for their manufacturing. Advanced control allows to minimize their energy consumption and their polluting emissions while making limited compromises on performance and robustness. Real-time embedded vision adds exteroceptive feedback to the control system to improve the accuracy and dynamic performance of lightweight mechanical systems.

Complex Systems

Event-Based Control

Sylvain Durand, sdurand@unistra.fr

Non Linear Predictive Control

Loïc Cuvillon, l.cuvillon@unistra.fr

Control of Collaborative Robots

Hassan Omran, homran@unistra.fr

testtt

A Completer

Iulia, Edouard, Florent

Parsimony

Flexible Mechanisms

Lennart Rubbert, lennart.rubbert@insa-strasbourg.fr
Marc Vedrines, marc.vedrines@insa-strasbourg.fr
Florent ?

Cable-Driven Parallel Robotics

Jacques Gangloff, jacques.gangloff@unistra.fr
Loïc Cuvillon, l.cuvillon@unistra.fr
Sylvain Durand, sdurand@unistra.fr
Edouard Laroche, laroche@unistra.fr

One specificity of Cable-Driven Parallel Robots (CDPRs) is that the rigid linkages of common parallel robots are replaced by cables. Using cables, CDPRs can achieve a high payload to robot mass ratio, large workspace, high-speed motion and cost effectiveness. However, the drawbacks inherent to cables are unilateral force — a cable can only pull and not push — and elasticity. Our team has studied the possibility of embedding additional actuators on the end-effector of a CDPR to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the DexterWide ANR project. Drone propellers have been studied during the eVISER ANR project.

Aerial Manipulation

Jacques Gangloff, jacques.gangloff@unistra.fr
Loïc Cuvillon, l.cuvillon@unistra.fr
Sylvain Durand, sdurand@unistra.fr
Adlane Habed, habed@unistra.fr

The goal of the project dextAIR is to study the application of a new type of aerial manipulator using an elastic suspension. Nonlinear Model Predictive Control has been used to combine the computation of the optimal control input, the saturation management and the allocation of the control to the overactuated system. Elastic suspension from a CDPR has been studied within the eVISER ANR project. The goal of the STRAD ANR project is to develop an aerial manipulator based on the dextAIR concept for painting a huge street art mural. With the ANR TIR4sTREEt project, the goal is to use a dextAIR aerial manipulator to autonomously scan an urban area with climatology sensors.

Active Markers

Christophe Doignon, c.doignon@unistra.fr

Knowledge/Vision Interaction

Adlane Habed, habed@unistra.fr