The article discusses the design and development of the PAUL robot at the Centro de Automatica y Robotica in Madrid. It evaluates the complexities of its pneumatic actuation and emphasizes a data-driven modeling approach, rather than traditional model-based methodologies, for its control. The study recognizes the challenges posed by variable manufacturing processes and material properties, which influenced the decision to focus on experimental data collection. Key areas covered include materials selection, manufacturing, and performance analysis, highlighting systematic experimentation for effective control and operation of the robot in its environment.
The complexity of the robot led to model-based approaches like PCC being discarded in favor of data-driven PAUL modeling, focusing on end position and orientation.
The PAUL robot's design emphasizes experimental data collection for its actuation and modeling, given the high variability in manufacturing processes and material properties.
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