manipulateurs

Manipulateurs, in the context of robotics and automation, are devices or systems designed to manipulate objects and perform tasks within a defined environment. A manipulateur typically consists of a chain of rigid links connected by joints, driven by actuators and guided by a computer or embedded controller. The end of the chain carries an end effector, such as a gripper, welding torch, suction cup, or cutting tool. The term is French in origin, with the English equivalent commonly being robotic manipulator or manipulator.

Configurations vary widely. Articulated arms with multiple joints, Cartesian manipulators with linear axes, cylindrical and spherical configurations, and parallel manipulators each offer distinct reach, stiffness, and payload characteristics. Degrees of freedom are usually three translational and three rotational axes, enabling complex pose and orientation of the end effector. Kinematic analyses describe the relationships between joint variables and the end effector pose.

Control and planning are central to manipulation. Manipulateurs operate under open-loop or closed-loop control, with methods ranging from PID-based motion control to impedance or torque control for interaction with the environment. Advanced planning and path optimization address collision avoidance and trajectory smoothness. Forward kinematics map joint values to end effector pose, while inverse kinematics seek joint settings to achieve a desired pose.

Applications span industry and research. Industrial manipulateurs are used for welding, painting, picking and placing, and assembly. Medical robotics employ precise manipulators for minimally invasive procedures. In laboratories and service robotics, they enable automated handling and manipulation under controlled conditions.

Safety and standards govern deployment, particularly for collaborative robots (cobots) and human–robot interaction, emphasizing risk assessment, safeguarding, and compliance with applicable guidelines.