Difference between revisions of "Complex Systems and Parsimony"

Revision as of 14:45, 26 September 2022

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

A Completer

Iulia, Hassan, Edouard

Parsimony

Flexible Mechanisms

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

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 en-effector this robot 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

Active Markers

Christophe Doignon, c.doignon@unistra.fr

Knowledge/Vision Interaction

Adlane Habed, habed@unistra.fr

@@ Line 24: / Line 24: @@
   Edouard Laroche, [mailto:laroche@unistra.fr 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.
+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 en-effector this robot to actively correct these intrinsic weaknesses by the control. Moving masses and cold air thrusters have been studied as part of the [https://anr.fr/Projet-ANR-15-CE10-0006 DexterWide ANR project]. Drone propellers have been studied during the [https://anr.fr/Projet-ANR-17-CE33-0008 eVISER ANR project].
 === Aerial Manipulation ===