Robot piloting based on FEM simulation

The modeling method and simulation described previously to pilot the robot was used. The inverse model is computed in real-time to obtain the actuation required to orientate and position the manipulator as desired. This position is controlled by moving manually a control point attached to the top platform in the simulation.

The first test was conducted using only cable actuation.

In the second test, antagonistic (both cable and pneumatics) actuation was implemented in the simulation.