Adaptive Control

Parallel Kinematic Manipulators

LIRMM – CNRS/Univ

Serial robot manipulators consist of a set of sequentially connected links, forming an open kinematic chain. These robots are mainly characterized by their large workspace and their high dexterity. However, in order to perform tasks requiring high speeds/accelerations and high precision; such robots are not always recommended because of their lack of stiffness and accuracy. Indeed, parallel kinematic manipulators (PKMs) are more suitable for such tasks. The main idea of their mechanical structure consists in using at least two kinematic chains linking the fixed base to the travelling plate, where each of these chains contains at least one actuator. This allows for a distribution of the load between the chains. PKMs have important advantages with respect to tserial counterparts in terms of stiffness, speed, accuracy and payload. However, these robots are characterized by their highly nonlinear dynamics, actuation redundancy, kinematic redundancy, uncertainties, singularities, etc. Besides, when interestedspeed robotized repetitive tasks, such as food packaging applications, the key idea lies in looking for short cycle-times. This means obviously to look for short, motion and stabilization times while guaranteeing the robustness and performance witdisturbances and changes in operational conditions. Consequently, when we are interested in control of such robots, all these issues should be taken into account, which makes it a challenging task. This talk will give an overview of some propcontrol solutions for high-speed applications of PKMs in food packaging tasks. The proposed solutions are mainly based on nonlinear adaptive control techniques and have

been validated through real-time experiments on different prototypes.

Short Biography: Ahmed Chemori received his M.Sc. and Ph.D. degrees, both in automatic control fromPolytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the year 2004/2005 he has been a Research and Teaching assistant at LaboratoirSystèmes (LSS - Centrale Supelec) and University Paris 11. Then he joined Gipsaas a CNRS postdoctoral researcher. He is currently a tenured researchand Robotics for the French National Center for ScLaboratory of Computer Science, Robotics and Microelectronics (LIRMM). His research interests include nonlinear (adaptive and predictive) and their applicationparallel, underwater, humanoid and wearable robotics). He is the author of more than 95 scientific publications, including international journals, patents, book chapters and international conferences. He co-supervised 13 PhD thTPC/IPC member or associate editor for diff

SEMINAR

Control of Extremely

Parallel Kinematic ManipulatorsFriday 13thApril2018at 12:30

Ahmed CHEMORI CNRS Researcher

CNRS/Univ ersity of Montpellier, France

Abstract of the talk

Serial robot manipulators consist of a set of sequentially connected links, forming an open kinematic chain. These robots are mainly characterized by their large workspace and their high dexterity. However, in order to perform tasks requiring high

ccelerations and high precision; such robots are not always recommended because of their lack of stiffness and accuracy. Indeed, parallel kinematic manipulators (PKMs) are more suitable for such tasks. The main idea of their mechanical structure

n using at least two kinematic chains linking the fixed base to the travelling plate, where each of these chains contains at least one actuator. This allows for a distribution of the load between the chains. PKMs have important advantages with respect to tserial counterparts in terms of stiffness, speed, accuracy and payload. However, these robots are characterized by their highly nonlinear dynamics, actuation redundancy, kinematic redundancy, uncertainties, singularities, etc. Besides, when interestedspeed robotized repetitive tasks, such as food packaging applications, the key idea lies in

times. This means obviously to look for short, motion and stabilization times while guaranteeing the robustness and performance witdisturbances and changes in operational conditions. Consequently, when we are interested in control of such robots, all these issues should be taken into account, which makes it a challenging task. This talk will give an overview of some prop

speed applications of PKMs in food packaging tasks. The proposed solutions are mainly based on nonlinear adaptive control techniques and have

time experiments on different prototypes.

Ahmed Chemori received his M.Sc. and Ph.D. degrees, both in automatic Polytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the

2004/2005 he has been a Research and Teaching assistant at Laboratoire de Signaux et ) and University Paris 11. Then he joined Gipsa-Lab (Former LAG)

He is currently a tenured researcher in Automatic control and Robotics for the French National Center for Scientific Research (CNRS), at the Montpellier Laboratory of Computer Science, Robotics and Microelectronics (LIRMM). His research interests include nonlinear (adaptive and predictive) and their applications in robotics (underactuated, parallel, underwater, humanoid and wearable robotics). He is the author of more than 95 scientific publications, including international journals, patents, book chapters and international

supervised 13 PhD theses (including 6 defended) and more than 35 MSc theses. TPC/IPC member or associate editor for different international conferences and organized various scientific events

Extremely Fast

Parallel Kinematic Manipulators

Montpellier, France

Serial robot manipulators consist of a set of sequentially connected links, forming an open kinematic chain. These robots are mainly characterized by their large workspace and their high dexterity. However, in order to perform tasks requiring high

ccelerations and high precision; such robots are not always recommended because of their lack of stiffness and accuracy. Indeed, parallel kinematic manipulators (PKMs) are more suitable for such tasks. The main idea of their mechanical structure

n using at least two kinematic chains linking the fixed base to the travelling plate, where each of these chains contains at least one actuator. This allows for a distribution of the load between the chains. PKMs have important advantages with respect to their serial counterparts in terms of stiffness, speed, accuracy and payload. However, these robots are characterized by their highly nonlinear dynamics, actuation redundancy, kinematic redundancy, uncertainties, singularities, etc. Besides, when interested in high-speed robotized repetitive tasks, such as food packaging applications, the key idea lies in

times. This means obviously to look for short, motion and stabilization times while guaranteeing the robustness and performance with respect to disturbances and changes in operational conditions. Consequently, when we are interested in control of such robots, all these issues should be taken into account, which makes it a challenging task. This talk will give an overview of some proposed advanced

speed applications of PKMs in food packaging tasks. The proposed solutions are mainly based on nonlinear adaptive control techniques and have

time experiments on different prototypes.

Ahmed Chemori received his M.Sc. and Ph.D. degrees, both in automatic Polytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the

e de Signaux et Lab (Former LAG)

in Automatic control ientific Research (CNRS), at the Montpellier

Laboratory of Computer Science, Robotics and Microelectronics (LIRMM). His research interests in robotics (underactuated,

parallel, underwater, humanoid and wearable robotics). He is the author of more than 95 scientific publications, including international journals, patents, book chapters and international

eses (including 6 defended) and more than 35 MSc theses. He served as a erent international conferences and organized various scientific events.