Robust control of a planar manipulator for flexible and contactless handling

Anne Delettre (1) , Guillaume J. Laurent (1) , Yassine Haddab (1) , Nadine Le Fort-Piat (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

Many industries require non-contact and flexible manipulation systems, such as magnetic or pneumatic devices. In this paper, we describe a one-degree-of-freedom position control of an induced-air-flow surface. This device allows to convey objects on an air cushion using an original aerodynamic traction principle. A model of the system is established and the parameters are identified experimentally. A H1 robust controller is designed and implemented on the device in order to control the object position. Experiments with objects of various dimensions and materials are conducted and showed the robustness capabilities of the controller.

Mots clés: Air jet manipulation; non-contact transport; H1 robust control.; H1 robust control

Domaines: Micro et nanotechnologies/Microélectronique

Anne Delettre, Guillaume J. Laurent, Yassine Haddab, Nadine Le Fort-Piat. Robust control of a planar manipulator for flexible and contactless handling. Mechatronics, 2012, 22 (6), pp.852-861. ⟨10.1016/j.mechatronics.2012.05.003⟩. ⟨hal-00734012⟩