Abstract: An apparatus and method for positioning and orientating a load includes a support structure movable in a first direction a tendon system having at least six winches mounted on the structure and at least six tendons connected to the winches, and a lifting mechanism mounted on the structure. The lifting mechanism includes another tendon and is movable in a second direction perpendicular to the first. The apparatus includes a component suspending the load from above and is connected to a second end of each of the tendons and to a free end of the additional tendon. The apparatus further includes a control module for translating synchronously and independently an instruction regarding the load in an actuation over the winches, over the lifting mechanism and the support structure, such that at least 51% of the load is sustained by the lifting mechanism and the load is suspended from the further tendon.

Abstract: An apparatus and method for positioning and orientating a load includes a support structure movable in a first direction a tendon system having at least six winches mounted on the structure and at least six tendons connected to the winches, and a lifting mechanism mounted on the structure. The lifting mechanism includes another tendon and is movable in a second direction perpendicular to the first. The apparatus includes a component suspending the load from above and is connected to a second end of each of the tendons and to a free end of the additional tendon. The apparatus further includes a control module for translating synchronously and independently an instruction regarding the load in an actuation over the winches, over the lifting mechanism and the support structure, such that at least 51% of the load is sustained by the lifting mechanism and the load is suspended from the further tendon.

Abstract: A method of controlling a machine with redundant parallel actuation includes a frame and a mobile element driven by a plurality of mechanical transmissions parallel to one another and each being activated by an actuator (2) including a body fixed to the frame, an actuating member and a position sensor, in which an error signal is produced by comparing the position of each actuator with a setpoint signal, characterized in that the error signals are converted into a mobile element position error signal by applying data representative of the kinematics of the mechanical transmissions, the mobile element error signal is processed by a processing module which produces an effort signal to be applied to the mobile element, the effort signal is converted into signals controlling the actuators by applying data representative of the kinematics of the mechanical transmissions.

Abstract: A method of controlling a machine with redundant parallel actuation includes a frame and a mobile element driven by a plurality of mechanical transmissions parallel to one another and each being activated by an actuator (2) including a body fixed to the frame, an actuating member and a position sensor, in which an error signal is produced by comparing the position of each actuator with a setpoint signal, characterized in that the error signals are converted into a mobile element position error signal by applying data representative of the kinematics of the mechanical transmissions, the mobile element error signal is processed by a processing module which produces an effort signal to be applied to the mobile element, the effort signal is converted into signals controlling the actuators by applying data representative of the kinematics of the mechanical transmissions.