Development of different control schemes for the redundantly actuated Quattro S650 parallel manipulator.

The proposed controllers were implemented and integrated of the simulator of the robot. Extensive simulations were conducted for different situations to show the performance of each controller. This step will be very useful for the next one concerning the experimentation of the proposed controllers in real-time on the industrial robot.

With the kinematic calibration, the future issues will be the implementation of the new models in the Adept controller and perform the measurements in order to validate the improvement brought by the calibration (65% in the mean error and 50% in the maximum error within the workspace).