Robust control of a planar manipulator for flexible and contactless handling

Delettre, Anne; Laurent, Guillaume J.; Haddab, Yassine; Fort-Piat, Nadine Le

doi:10.1016/j.mechatronics.2012.05.003

Cited by 16 publications

(14 citation statements)

References 15 publications

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“…Laurent et al [16,18,41] used this traction principle to move a product using an array of vertical air jets to induce desired potential air flow over the surface. This device is able to move centimetersized objects up to 220 mm/s with millimeter closed-loop positioning accuracy.…”

Section: Air Flow Manipulatorsmentioning

confidence: 99%

“…Not only did they fabricate micro air-jet valves, but also proposed the concept of distributed manipulation using micro actuator arrays. Since then, many other types of contactless pneumatic manipulation systems are introduced such as air bearing using ultrasound [8][9][10][11], manipulation using passive air flow [12][13][14][15], manipulation using induced air flow [16][17][18][19], manipulation using tilted air-jet array [20][21][22][23][24][25].…”

Section: Introductionmentioning

confidence: 99%

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A survey of non-prehensile pneumatic manipulation surfaces: principles, models and control

Laurent

Moon

2015

Intel Serv Robotics

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Many manipulation systems using air flow have been proposed for object handling in a non-prehensile way and without solid-to-solid contact. Potential applications include high-speed transport of fragile and clean products and high-resolution positioning of thin delicate objects. This paper discusses a comprehensive survey of state-of-the-art pneumatic manipulation from the macro scale to the micro scale. The working principles and actuation methods of previously developed air-bearing surfaces, ultra-sonic bearing surfaces, air-flow manipulators, air-film manipulators, and tilted air-jet manipulators are reviewed with a particular emphasis on the modeling and the control issues. The performance of the previously developed devices are compared quantitatively and open problems in pneumatic manipulation are discussed.

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Section: Air Flow Manipulatorsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A survey of non-prehensile pneumatic manipulation surfaces: principles, models and control

Laurent

Moon

2015

Intel Serv Robotics

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“…Researchers have done a lot of works based on this device, in order to identify the location of object and control it; A H∞ robust controller is designed and implemented on the device (see [34]). In order to control the object precisely, distributed control architecture is presented (see [35]).…”

Section: B Moving Objects By Aerodynamic-tractionmentioning

confidence: 99%

Survey on Air Levitation Conveyors with Possible Scalability Properties

Zhu

Baz

Ning

2015

2015 IEEE 12th Intl Conf on Ubiquitous Intelligence and Computing and 2015 IEEE 12th Intl Conf on Autonomic and Trusted Computi

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Re-configurability and scalability are important properties of smart non-contact conveyors. The paper studies smart conveyors. It concentrates on levitation methods; it makes a comprehensive survey on levitation technologies that are currently most active. A conclusion is made that air levitation is well suited to smart conveyors. Furthermore, an overview of the movement mechanisms on air levitation platforms is presented; the various advantages of these technologies are reviewed here and associated scalability properties are detailed. This provides a reference for selecting a reliable movement mechanism for future smart conveyors.

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“…Their method allows to move an object to a unique final pose using airflow fields without sensors. Laurent et al [23], [24] used the proposed traction principle to move a product thanks to an array of vertical air jets which induce desired potential air flow over the surface. This device is able to move centimeter-sized objects up to 0.2 m/s with millimetric closed-loop positioning accuracy.…”

Section: Introductionmentioning

confidence: 99%

Design, modeling and control of a modular contactless wafer handling system

Dahroug

Laurent

Guelpa

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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In the photovoltaic solar cell industry as in the semiconductor industry, efforts to reduce the thickness of silicon wafers are in progress. Wafer damage and breakage during handling can lead to unacceptable yields and alternative solutions have to be proposed. This paper presents a modular contact-free wafer handling system that responds to the industrial requirements in terms of throughput and flexibility. The system is based on simple unidirectional modules that can be assembled together to form the desired trajectory. A complete and accurate physical model of the modular system describing the motion of the wafer transported by directed airjets is proposed. A decentralized control at the block level is realized to damp the object motion. The experimental results show a great reduction of the response time compared to free motion and a standard deviation of the servo error below the millimeter. In addition, simulations show that a 150 mm wafer could reach a speed up to 2.9 m/s on large conveyors.

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Robust control of a planar manipulator for flexible and contactless handling

Cited by 16 publications

References 15 publications

A survey of non-prehensile pneumatic manipulation surfaces: principles, models and control

A survey of non-prehensile pneumatic manipulation surfaces: principles, models and control

Survey on Air Levitation Conveyors with Possible Scalability Properties

Design, modeling and control of a modular contactless wafer handling system

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