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Modelisation Et Controle Dactionneurs Pour La Robotique Humanoide
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Book Synopsis Modélisation et contrôle d'actionneurs pour la robotique humanoïde by : Florent Forget
Download or read book Modélisation et contrôle d'actionneurs pour la robotique humanoïde written by Florent Forget and published by . This book was released on 2018 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: La robotique humanoïde pose des problèmes d'actionnement et de contrôle complexes tant ce domaine a des besoins spécifiques. Cela implique la conception de constructions mécatroniques avancées. Dans le cadre de cette thèse, nous nous sommes intéressé aux actionneurs de ces robots et avons porté une attention particulière aux systèmes présentant de bonnes capacités de compliance. Par compliance, on entend la faculté du système à s'adapter à son environnement en adoptant un comportement souple. Cette caractéristique est particulièrement recherchée pour les interactions homme-robot et pour rendre les contacts entre le robot et son environnement plus doux. Nous avons étudié deux systèmes en détails : le premier est un système à base de muscles artificiels pneumatiques de Mckibben et le second, un actionneur électrique à câble comportant une flexibilité. Nous avons développé et mis en oeuvre une architecture de contrôle pour la commande des deux systèmes. L'intérêt de cette architecture réside dans son caractère générique et dans son exploitation au sein d'un schéma de commande prédictive (Model predictive control). Nous avons ensuite étudié le comportement thermique d'un actionneur en vue d'exploiter le plein potentiel de ce système tout en garantissant son intégrité. Finalement, nous avons mené des développements afin d'améliorer le contrôle en couple articulaire du robot humanoïde Talos.
Book Synopsis Humanoid Robots by : Dragomir N. Nenchev
Download or read book Humanoid Robots written by Dragomir N. Nenchev and published by Butterworth-Heinemann. This book was released on 2018-11-21 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab® environment and tools. This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book. Provides a firm theoretical basis for modelling and control algorithm design Gives a systematic presentation of models and control algorithms Contains numerous implementation examples demonstrated with 43 video clips
Author :Zhou Zhou (Auteur de Design and analysis of a novel kinematically redundant parallel robot with all actuators located at the base) Publisher : ISBN 13 : Total Pages :0 pages Book Rating :4.:/5 (144 download)
Book Synopsis Design and analysis of a novel kinematically redundant parallel robot with all actuators located at the base by : Zhou Zhou (Auteur de Design and analysis of a novel kinematically redundant parallel robot with all actuators located at the base)
Download or read book Design and analysis of a novel kinematically redundant parallel robot with all actuators located at the base written by Zhou Zhou (Auteur de Design and analysis of a novel kinematically redundant parallel robot with all actuators located at the base) and published by . This book was released on 2024 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cette thèse propose et analyse un nouveau robot parallèle cinématiquement redondant (KRP) avec tous les actionneurs situés à la base. La structure de base du robot provient de travaux antérieurs, c'est-à-dire que trois jambes avec 3 degrés de liberté (ddls) chacune sont attachées à la plate-forme mobile par trois liaisons redondantes, ce qui donne un robot KRP avec (6+3) degrés de liberté. Cette thèse se concentre sur quatre thèmes. Tout d'abord, un nouveau robot parallèle à 3 ddls utilisé comme jambe du robot KRP est proposé, et tous les actionneurs sont situés à la base afin de réduire l'inertie des parties mobiles. De plus, les actionneurs sont placés près les uns des autres pour minimiser l'encombrement et produire un espace de travail relativement grand. Les problèmes cinématiques tels que la modélisation cinématique, le problème inverse/direct, l'analyse des singularités et l'espace de travail sont analysés en détail. En outre, pour simplifier l'analyse de l'espace de travail et agrandir l'espace de travail, une conception améliorée du robot à 3 ddls est proposée. L'établissement de modèles dynamiques pour les robots parallèles est un défi en raison des relations complexes entre les vitesses et les forces induites par leur structure en boucle fermée. Cette thèse propose plusieurs méthodes de modélisation simplifiées pour les robots parallèles. Le premier type est dérivé de l'approche lagrangienne et l'idée centrale est de réduire la complexité des expressions représentant l'énergie pour le robot. Par conséquent, ces méthodes ont une bonne généralité et sont disponibles pour divers robots parallèles. Cependant, pour certains robots parallèles (par exemple, le robot à 3 ddls proposé), même en utilisant la méthode simplifiée, les calculs d'énergie sont légèrement complexes. Compte tenu de cela, une autre méthode de modélisation simplifiée basée sur l'approche de Newton-Euler est proposée et analysée. Étant donné que le nouveau robot KRP a une structure similaire à celle des robots KRP précédents, la plupart des méthodes analysées dans les travaux précédents peuvent être directement utilisées. Par conséquent, cette thèse ne résout que brièvement le problème inverse/direct, explique la singularité du point de vue de la force, donne le modèle dynamique et montre la structure et le modèle CAO du prototype du nouveau robot KRP. Enfin, cette thèse propose une méthode générale de contrôle de préhension par laquelle le robot KRP peut faire fonctionner à distance une pince pour générer les forces de préhension requises tout en déplaçant la plate-forme, toutes les actions étant pilotées par les mêmes actionneurs. Le modèle de contrôle de préhension se compose d'un modèle de contrôle du mouvement des jambes et d'un modèle de contrôle de la force des jambes, où la force de préhension peut être contrôlée indépendamment. En conséquence, le modèle de contrôle en force utilise un contrôleur en boucle ouverte, simple à mettre en œuvre et efficace.
Book Synopsis 4D Printing, Volume 2 by : Frederic Demoly
Download or read book 4D Printing, Volume 2 written by Frederic Demoly and published by John Wiley & Sons. This book was released on 2022-09-14 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Who hasn’t dreamed of seeing matter transformed in a way that suits you? This is the goal of 4D printing, using materials that can change in terms of shape and property under the effect of energy stimulation. From the description of the actions and actuators, the authors show the weaknesses that limit the industrialization of 4D printing processes; these are the modes of energy stimulation. To prepare for the future, two chapters are introduced: “Material-Process Duality in Industrial 4D Printing” and “How to Approach 4D Printing in Design”. If the capture and reuse of 4D printing knowledge is necessary for this objective, the conclusion leaves the existing myth around the 4D printing theme and proposes a “draft” roadmap that should be the subject of reflection and scientific debate on a concept that is still immature, but full of promise.
Book Synopsis Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices by : Giuseppe Averta
Download or read book Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices written by Giuseppe Averta and published by Springer Nature. This book was released on 2022-01-25 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book moves from a thorough investigation of human capabilities during movements and interactions with objects and environment and translates those principles into the design planning and control of innovative mechatronic systems, providing significant advancements in the fields of human–robot interaction, autonomous robots, prosthetics and assistive devices. The work presented in this monograph is characterized by a significant paradigmatic shift with respect to typical approaches, as it always place the human at the center of the technology developed, and the human represents the starting point and the actual beneficiary of the developed solutions. The content of this book is targeted to robotics and neuroscience enthusiasts, researchers and makers, students and simple lovers of the matter.
Book Synopsis Whole-Body Control for Multi-Contact Balancing of Humanoid Robots by : Bernd Henze
Download or read book Whole-Body Control for Multi-Contact Balancing of Humanoid Robots written by Bernd Henze and published by Springer Nature. This book was released on 2021-11-03 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Book Synopsis Humanoid robot control policy and interaction design- a study on simulation to machine deployment by : Suman Deb
Download or read book Humanoid robot control policy and interaction design- a study on simulation to machine deployment written by Suman Deb and published by GRIN Verlag. This book was released on 2019-08-06 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt: Technical Report from the year 2019 in the subject Engineering - Robotics, grade: 9, , language: English, abstract: Robotic agents can be made to learn various tasks through simulating many years of robotic interaction with the environment which cannot be made in case of real robots. With the abundance of a large amount of replay data and the increasing fidelity of simulators to implement complex physical interaction between the robots and the environment, we can make them learn various tasks that would require a lifetime to master. But, the real benefits of such training are only feasible, if it is transferable to the real machines. Although simulations are an effective environment for training agents, as they provide a safe manner to test and train agents, often in robotics, the policies trained in simulation do not transfer well to the real world. This difficulty is compounded by the fact that oftentimes the optimization algorithms based on deep learning exploit simulator flaws to cheat the simulator in order to reap better reward values. Therefore, we would like to apply some commonly used reinforcement learning algorithms to train a simulated agent modelled on the Aldebaran NAO humanoid robot. The problem of transferring the simulated experience to real life is called the reality gap. In order to bridge the reality gap between the simulated and real agents, we employ a Difference model which will learn the difference between the state distributions of the real and simulated agents. The robot is trained on two basic tasks of navigation and bipedal walking. Deep Reinforcement Learning algorithms such as Deep Q-Networks (DQN) and Deep Deterministic Policy Gradients(DDPG) are used to achieve proficiency in these tasks. We then evaluate the performance of the learned policies and transfer them to a real robot using a Difference model based on an addition to the DDPG algorithm.
Book Synopsis Étude de la commande des mouvements dynamiques d'un robot humanoide by : José Victor Nunez Nalda
Download or read book Étude de la commande des mouvements dynamiques d'un robot humanoide written by José Victor Nunez Nalda and published by Presses Academiques Francophones. This book was released on 2015-03-30 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce livre porte sur la commande des robots humanoides pour des mouvements dynamiques tels que la marche, la course et le saut. Les robots humanoides sont actuellement capables de realiser differents types de locomotion dynamiques en plus de la marche. Cependant, la majorite des methodes de commande basees sur le zmp, considerent seulement la marche sur un sol plat ou tout au plus pour une montee d'escaliers. Des methodes de controle plus performantes sont donc necessaires pour traiter des mouvements varies et rapides. C'est dans le cadre de la recherche de ce nouveau type de "systemes de locomotion" que notre etude s'inscrit."
Book Synopsis Whole-Body Impedance Control of Wheeled Humanoid Robots by : Alexander Dietrich
Download or read book Whole-Body Impedance Control of Wheeled Humanoid Robots written by Alexander Dietrich and published by Springer. This book was released on 2016-07-02 with total page 196 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Book Synopsis A Journey from Robot to Digital Human by : Edward Y L Gu
Download or read book A Journey from Robot to Digital Human written by Edward Y L Gu and published by Springer Science & Business Media. This book was released on 2013-07-24 with total page 600 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLABTM codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLABTM, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate engineering students. At the same time, it represents a comprehensive reference guide for all researchers, scientists and professionals eager to learn the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation.
Book Synopsis Biologically Inspired Control of Humanoid Robot Arms by : Adam Spiers
Download or read book Biologically Inspired Control of Humanoid Robot Arms written by Adam Spiers and published by Springer. This book was released on 2016-05-27 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.
Book Synopsis Robot Learning Human Skills and Intelligent Control Design by : Chenguang Yang
Download or read book Robot Learning Human Skills and Intelligent Control Design written by Chenguang Yang and published by CRC Press. This book was released on 2021-06-21 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decades robots are expected to be of increasing intelligence to deal with a large range of tasks. Especially, robots are supposed to be able to learn manipulation skills from humans. To this end, a number of learning algorithms and techniques have been developed and successfully implemented for various robotic tasks. Among these methods, learning from demonstrations (LfD) enables robots to effectively and efficiently acquire skills by learning from human demonstrators, such that a robot can be quickly programmed to perform a new task. This book introduces recent results on the development of advanced LfD-based learning and control approaches to improve the robot dexterous manipulation. First, there's an introduction to the simulation tools and robot platforms used in the authors' research. In order to enable a robot learning of human-like adaptive skills, the book explains how to transfer a human user’s arm variable stiffness to the robot, based on the online estimation from the muscle electromyography (EMG). Next, the motion and impedance profiles can be both modelled by dynamical movement primitives such that both of them can be planned and generalized for new tasks. Furthermore, the book introduces how to learn the correlation between signals collected from demonstration, i.e., motion trajectory, stiffness profile estimated from EMG and interaction force, using statistical models such as hidden semi-Markov model and Gaussian Mixture Regression. Several widely used human-robot interaction interfaces (such as motion capture-based teleoperation) are presented, which allow a human user to interact with a robot and transfer movements to it in both simulation and real-word environments. Finally, improved performance of robot manipulation resulted from neural network enhanced control strategies is presented. A large number of examples of simulation and experiments of daily life tasks are included in this book to facilitate better understanding of the readers.
Book Synopsis Human Modeling for Bio-Inspired Robotics by : Jun Ueda
Download or read book Human Modeling for Bio-Inspired Robotics written by Jun Ueda and published by Academic Press. This book was released on 2016-09-02 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human Modelling for Bio-inspired Robotics: Mechanical Engineering in Assistive Technologies presents the most cutting-edge research outcomes in the area of mechanical and control aspects of human functions for macro-scale (human size) applications. Intended to provide researchers both in academia and industry with key content on which to base their developments, this book is organized and written by senior experts in their fields. Human Modeling for Bio-Inspired Robotics: Mechanical Engineering in Assistive Technologies offers a system-level investigation into human mechanisms that inspire the development of assistive technologies and humanoid robotics, including topics in modelling of anatomical, musculoskeletal, neural and cognitive systems, as well as motor skills, adaptation and integration. Each chapter is written by a subject expert and discusses its background, research challenges, key outcomes, application, and future trends. This book will be especially useful for academic and industry researchers in this exciting field, as well as graduate-level students to bring them up to speed with the latest technology in mechanical design and control aspects of the area. Previous knowledge of the fundamentals of kinematics, dynamics, control, and signal processing is assumed. Presents the most recent research outcomes in the area of mechanical and control aspects of human functions for macro-scale (human size) applications Covers background information and fundamental concepts of human modelling Includes modelling of anatomical, musculoskeletal, neural and cognitive systems, as well as motor skills, adaptation, integration, and safety issues Assumes previous knowledge of the fundamentals of kinematics, dynamics, control, and signal processing
Book Synopsis Human-Robot Interaction Control Using Reinforcement Learning by : Wen Yu
Download or read book Human-Robot Interaction Control Using Reinforcement Learning written by Wen Yu and published by John Wiley & Sons. This book was released on 2021-10-19 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive exploration of the control schemes of human-robot interactions In Human-Robot Interaction Control Using Reinforcement Learning, an expert team of authors delivers a concise overview of human-robot interaction control schemes and insightful presentations of novel, model-free and reinforcement learning controllers. The book begins with a brief introduction to state-of-the-art human-robot interaction control and reinforcement learning before moving on to describe the typical environment model. The authors also describe some of the most famous identification techniques for parameter estimation. Human-Robot Interaction Control Using Reinforcement Learning offers rigorous mathematical treatments and demonstrations that facilitate the understanding of control schemes and algorithms. It also describes stability and convergence analysis of human-robot interaction control and reinforcement learning based control. The authors also discuss advanced and cutting-edge topics, like inverse and velocity kinematics solutions, H2 neural control, and likely upcoming developments in the field of robotics. Readers will also enjoy: A thorough introduction to model-based human-robot interaction control Comprehensive explorations of model-free human-robot interaction control and human-in-the-loop control using Euler angles Practical discussions of reinforcement learning for robot position and force control, as well as continuous time reinforcement learning for robot force control In-depth examinations of robot control in worst-case uncertainty using reinforcement learning and the control of redundant robots using multi-agent reinforcement learning Perfect for senior undergraduate and graduate students, academic researchers, and industrial practitioners studying and working in the fields of robotics, learning control systems, neural networks, and computational intelligence, Human-Robot Interaction Control Using Reinforcement Learning is also an indispensable resource for students and professionals studying reinforcement learning.
Book Synopsis Approche neuro-robotique pour la commande de gestes d'atteinte sur les robots humanoïdes by : Minh Tuan Tran
Download or read book Approche neuro-robotique pour la commande de gestes d'atteinte sur les robots humanoïdes written by Minh Tuan Tran and published by . This book was released on 2009 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cette thèse présente une approche neuro-robotique du contrôle du mouvement d'atteinte pour des systèmes anthropomorphes tels que les robots humanoïdes. L'objectif de cette étude est double. D'une part, elle présente un état de l'art des modèles de commande existant en neurosciences du mouvement et décrit un ensemble de principes de contrôle moteur pouvant être utilisés pour la commande des robots humanoïdes. D'autre part, elle propose une utilisation de formalismes issus de la robotique pour la modélisation des processus de transformations sensori-moteurs nécessaires à l'exécution d'un mouvement volontaire. En particulier, il est mis en évidence que le formalisme de la commande référencée capteur et les modèles cinématiques et dynamiques des chaînes articulées, qui jouent un rôle essentiel pour la modélisation du problème de commande du mouvement en robotique, peuvent apporter des éléments clés pour répondre à des questions ouvertes en neurosciences. Sur le premier aspect du travail, nous avons développé une méthode de contrôle, basée sur un modèle d'optimisation du mouvement proposé en neurosciences, que nous avons ensuite appliquée à la commande des mouvements d'atteinte du robot HRP2. Les mouvements produits par cette méthode paraissent très ressemblants aux mouvements observés chez l'homme et présentent les caractéristiques principales des mouvements humains, à savoir: trajectoire quasi-rectiligne de la main avec profil de vitesse en forme de cloche. Nous avons également développé une autre méthode de contrôle inspirée de la théorie des primitives motrices en neurosciences. Cette méthode permet de simplifier la complexité du problème de commande en produisant rapidement des mouvements réalistes du robot à partir d'un ensemble de mouvements de référence. Ces différents résultats montrent que les théories du contrôle moteur humain peuvent être utilisées avec succès pour élaborer des méthodes de contrôle du mouvement d'atteinte des robots humanoïdes...
Book Synopsis Modelling and Control of Robot Manipulators by : Lorenzo Sciavicco
Download or read book Modelling and Control of Robot Manipulators written by Lorenzo Sciavicco and published by Springer Science & Business Media. This book was released on 2001-02-19 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Book Synopsis CONCEPTION ET IMPLANTATION DE LA COMMANDE D'UN ROBOT HYDRAULIQUE by : MARIE CLAUDE.. SEGUILLON
Download or read book CONCEPTION ET IMPLANTATION DE LA COMMANDE D'UN ROBOT HYDRAULIQUE written by MARIE CLAUDE.. SEGUILLON and published by . This book was released on 1989 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt: CE TRAVAIL S'INSCRIT DANS LE CADRE DES RECHERCHES EFFECTUEES A L'INRIA POUR L'AMELIORATION DE LA COMMANDE DES MANIPULATEURS RIGIDES. L'OBJECTIF DE CETTE ETUDE EST DE METTRE AU POINT UNE COMMANDE ROBUSTE ET PERFORMANTE POUR DES MODULES DE TRANSLATION ET DE ROTATION, CONSTITUES DE COMPOSANTS HYDRAULIQUES. CES MODULES DE MOTRICITE SONT CONCUS POUR CONSTRUIRE UN MANIPULATEUR D'ASSEMBLAGE EN MICRO-MECANIQUE DONT UN PROTOTYPE EST EN COURS DE REALISATION. LES CONTRAINTES ESSENTIELLES QUE DOIT RESPECTER UN ROBOT UTILISABLE DANS UN ATELIER FLEXIBLE D'ASSEMBLAGE AUTOMATIQUE, SONT LA RAPIDITE, LA PRECISION, LA ROBUSTESSE ET LA MODULARITE. CES DIFFERENTS ASPECTS SONT PRIS EN COMPTE POUR LE CHOIX DE LA STRUCTURE GEOMETRIQUE, DES ACTIONNEURS DU MANIPULATEUR ET AUSSI DANS LA REALISATION DE LA COMMANDE. AINSI, A PARTIR D'UN MODELE DE CONNAISSANCE ETABLIT GRACE A UNE MODELISATION PRECISE DES MODULES DE MOTRICITE, UN REGULATEUR ISSU DES TECHNIQUES DE COMMANDE LINEAIRE ET DE COMMANDE OPTIMALE EST DEVELOPPE. LA VALIDATION DE L'ALGORITHME DE CONTROLE EST FAITE PAR SIMULATION EN TENANT COMPTE DES CARACTERISTIQUES DES ACTIONNEURS HYDRAULIQUES, MAIS AUSSI DES COUPLAGES ET DES VARIATIONS D'INERTIE DANS LE CAS OU LES MODULES DE MOTRICITE SONT ASSOCIES EN UNE CONFIGURATION RPP. L'ETUDE COMPREND L'IMPLANTATION DES ALGORITHMES DE CONTROLE DANS UN ENSEMBLE MULTIPROCESSEURS
