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Commande Hybride Et Coordination De Deux Bras Manipulateurs En Environnement Non Structure
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Book Synopsis Commande hybride et coordination de deux bras manipulateurs en environnement non structuré by : Yann Eric Bouffard-Vercelli
Download or read book Commande hybride et coordination de deux bras manipulateurs en environnement non structuré written by Yann Eric Bouffard-Vercelli and published by . This book was released on 1992 with total page 195 pages. Available in PDF, EPUB and Kindle. Book excerpt: NOTRE OBJECTIF EST L'ASSEMBLAGE PRATIQUE DE DEUX OBJETS TENUS CHACUN PAR UN BRAS MANIPULATEUR. EN VUE DE DEFINIR LES MEILLEURES CONFIGURATIONS D'ASSEMBLAGE, UNE ETUDE SUR LE CONCEPT DE MANIPULABILITE EST ENTREPRISE. UNE SYNTHESE INITIALE PERMET D'INTRODUIRE UNE PONDERATION QUADRATIQUE ET QUELQUES AMELIORATIONS SUPPLEMENTAIRES QUI RENDENT L'ETUDE DE MANIPULABILITE D'UN ROBOT PLUS REPRESENTATIVE. LE CONCEPT EST ALORS ETENDU AU CAS D'UN ROBOT A DEUX BRAS. IL EST ALORS POSSIBLE DE CONFRONTER LA MANIPULABILITE DE CE SYSTEME DANS DIFFERENTES CONFIGURATIONS, A CELLE NECESSAIRE POUR EXECUTER LA TACHE. ENFIN, DES ASSEMBLAGES EXECUTES PAR DEUX PUMA 560 PERMETTENT DE PRESENTER DIVERSES METHODES DE REALISATION PRATIQUE DE LA PHASE D'APPROCHE DES EFFECTEURS ET DE LA PHASE D'INSERTION DE L'ASSEMBLAGE
Book Synopsis Contribution à la commande robuste position/force des robots manipulateurs à architecture complexe by : Philippe Fraisse
Download or read book Contribution à la commande robuste position/force des robots manipulateurs à architecture complexe written by Philippe Fraisse and published by . This book was released on 1994 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt: CE MEMOIRE DE THESE PRESENTE UNE LOI DE COMMANDE POSITION/FORCE ROBUSTE POUR DES ROBOTS A ARCHITECTURE COMPLEXE. NOUS ETABLISSONS TOUT D'ABORD, AU CHAPITRE UN, UNE DEFINITION DE LA ROBUSTESSE DANS LE CADRE DE LA COMMANDE DE ROBOT MANIPULATEUR AINSI QU'UNE DEFINITION DES INCERTITUDES ET DES PERTURBATIONS ASSOCIEES A LA MECONNAISSANCE DU MODELE. NOUS PRESENTONS DIVERS PRINCIPES DE COMMANDES ROBUSTES. LES DIFFERENTS MOYENS D'EXPERIMENTATION ET DE VALIDATION MIS A NOTRE DISPOSITION SONT EXPOSES AU CHAPITRE DEUX. IL S'AGIT NOTAMMENT D'UN ROBOT A DEUX BRAS COMPOSE DE DEUX PUMA 560, D'UN SIMULATEUR DE CE ROBOT QUE NOUS AVONS DEVELOPPE ET D'UN ROBOT PARALLELE DELTA. LE CHAPITRE TROIS EST CONSACRE A L'ETUDE, L'ANALYSE ET LA VALIDATION EXPERIMENTALE D'UNE LOI DE COMMANDE ROBUSTE EN POSITION, ORIGINALE, BASEE SUR LE PRINCIPE DE LA COMMANDE PAR REGIME GLISSANT. NOUS TRAITONS, AU QUATRIEME CHAPITRE, EN PRENANT LE MODELE D'UN ACTIONNEUR SIMPLIFIE, LE PROBLEME SPECIFIQUE DE LA COMMANDE EN EFFORT. NOUS PROPOSONS UNE SOLUTION SIMPLE A METTRE EN UVRE POUR RENDRE UNE LOI QUELCONQUE DE COMMANDE EN EFFORT, INSENSIBLE AUX VARIATIONS DE LA RAIDEUR DE L'ENVIRONNEMENT. DES RESULTATS EXPERIMENTAUX SONT PRESENTES AU TERME DE CETTE ETUDE. AU CINQUIEME CHAPITRE NOUS FAISONS LA SYNTHESE DES RESULTATS QUE NOUS AVONS OBTENUS ET NOUS PROPOSONS UN SCHEMA DE COMMANDE HYBRIDE ROBUSTE POUR UN ROBOT MANIPULATEUR A DEUX BRAS. UNE VALIDATION DE CE SCHEMA DE COMMANDE EST REALISEE EN SIMULATION
Book Synopsis Méthodologies pour la commande de manipulateurs mobiles non-holonomes by : Matthieu Fruchard
Download or read book Méthodologies pour la commande de manipulateurs mobiles non-holonomes written by Matthieu Fruchard and published by . This book was released on 2005 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cette thèse se place dans le cadre de la commande des manipulateurs mobiles hybrides holonomes/ non-holonomes, c'est-à-dire des robots constitués d'un bras manipulateur embarqué sur une plate-forme porteuse. L'objectif de ce travail est de fournir un cadre méthodologique pour la synthèse de lois de commande par retour d'état de tels systèmes, en partant du constat qu'une stratégie de coordination entre la plate-forme et le manipulateur requiert génériquement de commander la situation complète de la plate-forme. L'originalité des deux nouvelles approches proposées est de permettre un contrôle coordonné d'une tâche prioritaire de manipulation et d'une tâche secondaire de locomotion, obtenu via la stabilisation pratique de la situation complète de la plate-forme le long d'une trajectoire de référence quelconque. Ces deux méthodes génériques s'appuient sur la fusion de deux outils de commande : l'approche par fonctions de tâches, dédiée au contrôle des bras manipulateurs, et l'approche par fonctions transverses, consacrée à la commande des plate-formes non-holonomes. Différentes applications de suivi de cible valident la flexibilité et la polyvalence de ces approches de commande à travers le choix de plusieurs stratégies de coopération entre manipulation et locomotion.
Book Synopsis Descriptions de tâches en vue de la commande hybride symétrique d'un robot manipulateur à deux bras by : Pierre Dauchez
Download or read book Descriptions de tâches en vue de la commande hybride symétrique d'un robot manipulateur à deux bras written by Pierre Dauchez and published by . This book was released on 1990 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dans un premier temps, quelques exemples de taches coordonnees a deux bras sont presentees. Les limites des commandes en position et de la commande maitre/esclave sont mises en evidence dans ces cas. L'idee d'une commande hybride symetrique position/force pour un robot a deux bras est alors envisagee. Afin d'utiliser cette solution pour la manipulation d'un objet rigide fermement tenu, la determination theorique des vecteurs de commande en position et en effort est presentee dans un deuxieme temps. Ensuite, un schema-bloc de commande hybride de deux bras est propose et les divers calculs qu'il implique sont developpes. Des resultats experimentaux, en simulation et sur un site reel comportant deux robots puma a six degres de liberte et un systeme de commande multiprocesseur, sont presentes. Enfin, des extensions de la commande hybride symetrique sont proposees. Elles concernent la manipulation d'objets rigides non fermement tenus, la deformation controlee d'objets flexibles et l'assemblage en l'air de deux objets, chacun d'entre-eux etant tenu par un bras
Book Synopsis Analyse expérimentale de schémas de commande position/force d'un manipulateur monté sur un véhicule by : Lise Cellier
Download or read book Analyse expérimentale de schémas de commande position/force d'un manipulateur monté sur un véhicule written by Lise Cellier and published by . This book was released on 1996 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: LES MANIPULATEURS MOBILES, COMPOSES D'UN BRAS MANIPULATEUR MONTE SUR UN VEHICULE, CONSTITUENT UN AXE DE RECHERCHE IMPORTANT EN ROBOTIQUE. LES MANIPULATEURS MOBILES AUTONOMES, SEMI-AUTONOMES OU TELEOPERES ONT BEAUCOUP D'APPLICATIONS POTENTIELLES DANS DES MILIEUX HOSTILES OU NON-STRUCTURES TELS QUE L'ESPACE, LE SOUS-MARIN, LE DEMINAGE ET LES SITES NUCLEAIRES. COMME LE DECRIT LE PREMIER CHAPITRE DE CE MEMOIRE, LES AVANTAGES DES MANIPULATEURS MOBILES SONT NOMBREUX. TOUTEFOIS, UN DES INCONVENIENTS MAJEURS RESIDE DANS LEUR COMPLEXITE DE COMMANDE. NOUS POUVONS SOIT CONTROLER LE BRAS ET LE VEHICULE DE FACON COORDONNEE SOIT CONTROLER LES DEUX SEPAREMENT. L'ETUDE MENEE DANS CETTE THESE CONCERNE UNIQUEMENT LA COMMANDE DU BRAS MANIPULATEUR, LE VEHICULE ETANT CONSIDERE COMME UNE SOURCE DE PERTURBATIONS DEVANT ETRE PRISES EN COMPTE OU REJETEES PAR L'ALGORITHME DE COMMANDE DU BRAS. UNE ANALYSE EN SIMULATION ET SUR SITE EXPERIMENTAL PERMET DE DEFINIR POUR CHAQUE TYPE DE TACHES ENVISAGEES LA COMMANDE LA PLUS ADAPTEE AFIN DE GARANTIR LE SUCCES DE L'OPERATION. LES COMMANDES ETUDIEES PEUVENT ETRE REGROUPEES EN TROIS CATEGORIES: LA COMMANDE HYBRIDE, LA COMMANDE EXTERNE ET LA COMMANDE D'IMPEDANCE. LA COMMANDE A STRUCTURE VARIABLE ET LE PRINCIPE DE L'ENVIRONNEMENT VIRTUEL SONT INTRODUITS DANS LES ALGORITHMES CI-DESSUS AFIN D'EN ACCROITRE LA ROBUSTESSE. DE PLUS, ETANT DONNE QUE LES MANIPULATEURS MOBILES EVOLUENT LA PLUPART DU TEMPS DANS DES ENVIRONNEMENTS NON STRUCTURES, UNE METHODE D'EVITEMENT DES COLLISIONS BASEE SUR LE PRINCIPE DES ACTIONS REFLEXES EST PROPOSEE
Book Synopsis CONTRIBUTION A LA COMMANDE HYBRIDE FORCE-POSITION. APPLICATION A LA COOPERATION DE DEUX ROBOTS by : VERONIQUE.. PERDEREAU
Download or read book CONTRIBUTION A LA COMMANDE HYBRIDE FORCE-POSITION. APPLICATION A LA COOPERATION DE DEUX ROBOTS written by VERONIQUE.. PERDEREAU and published by . This book was released on 1991 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: CETTE THESE A POUR OBJET L'ETUDE DES DIFFERENTS SCHEMAS DE COMMANDE HYBRIDE FORCE-POSITION ET NOTAMMENT LE CONTROLE EXTERNE, OU LE CONTROLE D'EFFORT EST BASE SUR UN CONTROLE INTERNE DE POSITION, POUR LA COMMANDE D'UN OU PLUSIEURS MANIPULATEURS. LA PREMIERE PARTIE ANALYSE LES METHODES ACTUELLES DE COMMANDE HYBRIDE FORCE-POSITION D'UN SEUL MANIPULATEUR; ELLES SONT TOUTES CONSTITUEES DE DEUX BOUCLES PARALLELES D'ASSERVISSEMENT, UNE BOUCLE DE POSITION ET UNE BOUCLE D'EFFORT, ET CONDUISENT A DE NOMBREUSES DIFFICULTES DE MISE EN UVRE. LA SYNTHESE DES ASSERVISSEMENTS DEPEND EN EFFET D'UN GRAND NOMBRE DE TRANSFORMATIONS GEOMETRIQUES ET CINEMATIQUES LIEES A LA STRUCTURE DE COMMANDE ET A LA CONFIGURATION DE LA TACHE. NOUS PROPOSONS ALORS DANS CETTE PARTIE UNE NOUVELLE STRUCTURE DE CONTROLE HYBRIDE, DITE EXTERNE, CONSISTANT EN UNE HIERARCHISATION DE LA BOUCLE D'EFFORT SUR LA BOUCLE DE POSITION. CETTE STRUCTURE PRESENTE A NOTRE AVIS UN GRAND NOMBRE D'AVANTAGES: 1) L'ORTHOGONALITE DES COMMANDES EST DIRECTEMENT ASSUREE PAR LES CONSIGNES DE FORCE ET DE POSITION; 2) LA STRUCTURE DE COMMANDE PARTICULIEREMENT SIMPLE EST TOTALEMENT INDEPENDANTE DE LA CONFIGURATION DU BRAS ET DE L'ANALYSE DE LA TACHE; 3) LE MANIPULATEUR RESTE ASSERVI EN POSITION SANS COMMUTATION DE STRUCTURE LORSQU'IL SE DEPLACE DANS L'ESPACE LIBRE. LA SECONDE PARTIE EXAMINE LE PROBLEME DE LA MANIPULATION EN COMMUN D'UN OBJET PAR DEUX ROBOTS. LES METHODES PROPOSEES, POUR LE CONTROLE SIMULTANE DE LA DEFORMATION DE L'OBJET, DE SON DEPLACEMENT ET DES EFFORTS EXERCES SUR L'ENVIRONNEMENT EXTERIEUR, SONT DES EXTENSIONS DES METHODES CLASSIQUES POUR UN SEUL MANIPULATEUR REALISEES PAR UN CONTROLEUR GLOBAL COMMUN AUX DEUX ROBOTS, MOYENNANT DES ECHANGES D'INFORMATIONS TRES NOMBREUX ENTRE LES CONTROLEURS ET LE SUPERVISEUR. NOUS PROPOSONS ICI UNE ARCHITECTURE ORIGINALE: CHAQUE BRAS EST COMMANDE PAR SON PROPRE CONTROLEUR SUIVANT LE PRINCIPE HYBRIDE EXTERNE ET RECOIT SES CONSIGNES DU NIVEAU GLOBAL SUPERVISEUR. CETTE STRUCTURE SIMPLIFIANT LA MISE EN UVRE EXPERIMENTALE DEVRAIT OUVRIR UN CHAMP D'APPLICATIONS INDUSTRIELLES TRES LARGE
Book Synopsis New Trends in Mechanism and Machine Science by : Paulo Flores
Download or read book New Trends in Mechanism and Machine Science written by Paulo Flores and published by Springer. This book was released on 2014-08-26 with total page 915 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work presents the most recent research in the mechanism and machine science field and its applications. The topics covered include: theoretical kinematics, computational kinematics, mechanism design, experimental mechanics, mechanics of robots, dynamics of machinery, dynamics of multi-body systems, control issues of mechanical systems, mechanisms for biomechanics, novel designs, mechanical transmissions, linkages and manipulators, micro-mechanisms, teaching methods, history of mechanism science and industrial and non-industrial applications. This volume consists of the Proceedings of the 5th European Conference on Mechanisms Science (EUCOMES) that was held in Guimarães, Portugal, from September 16 – 20, 2014. The EUCOMES is the main forum for the European community working in Mechanisms and Machine Science.
Book Synopsis Frontline and Factory by : Roy MacLeod
Download or read book Frontline and Factory written by Roy MacLeod and published by Springer Science & Business Media. This book was released on 2007-05-06 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book represents a first considered attempt to study the factors that conditioned industrial chemistry for war in 1914-18. Taking a comparative perspective, it reflects on the experience of France, Germany, Austria, Russia, Britain, Italy and Russia, and points to significant similarities and differences. It looks at changing patterns in the organisation of industry, and at the emerging symbiosis between science, industry and the military.
Book Synopsis The Story of Crass by : George Berger
Download or read book The Story of Crass written by George Berger and published by . This book was released on 2009 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: In-depth interviews with the main movers in the punk rock movement--Crass members Penny Rimbaud, Gee Vaucher, and Steve Ignorant--detail the face of the revolution founded by these radical thinkers and artists. When punk ruled the waves, Crass waived the rules by putting out their own records, films, and magazines and setting up a series of situationist pranks that were dutifully covered by the world's press. Not just another iconoclastic band, Crass was a musical, social, and political phenomenon: commune dwellers that were rarely photographed and remained contemptuous of conventional pop stardom. As detailed in this history, their members explored and finally exhausted the possibilities of punk-led anarchy. This definitive biography of the band not only gives backstage access to their lives, philosophies, and the movement that followed, but also to never-before-seen photographs and rare dialogues.
Book Synopsis Routledge International Handbook of Ignorance Studies by : Matthias Gross
Download or read book Routledge International Handbook of Ignorance Studies written by Matthias Gross and published by Routledge. This book was released on 2015-05-15 with total page 427 pages. Available in PDF, EPUB and Kindle. Book excerpt: Once treated as the absence of knowledge, ignorance today has become a highly influential topic in its own right, commanding growing attention across the natural and social sciences where a wide range of scholars have begun to explore the social life and political issues involved in the distribution and strategic use of not knowing. The field is growing fast and this handbook reflects this interdisciplinary field of study by drawing contributions from economics, sociology, history, philosophy, cultural studies, anthropology, feminist studies, and related fields in order to serve as a seminal guide to the political, legal and social uses of ignorance in social and political life. Chapter 33 of this book is freely available as a downloadable Open Access PDF under a Creative Commons Attribution-Non Commercial-No Derivatives 4.0 license available here: https://tandfbis.s3-us-west-2.amazonaws.com/rt-files/docs/Open+Access+Chapters/9780415718967_oachapter33.pdf
Book Synopsis Principles of Radar and Sonar Signal Processing by : Chevalier François Le
Download or read book Principles of Radar and Sonar Signal Processing written by Chevalier François Le and published by Artech House. This book was released on 2002 with total page 422 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis The Challenge of Change by : Rebecca Hampl
Download or read book The Challenge of Change written by Rebecca Hampl and published by Christian Faith Publishing, Inc.. This book was released on 2022-08-01 with total page 533 pages. Available in PDF, EPUB and Kindle. Book excerpt: At the age of twenty-eight, Marty Ellis is still a bachelor who graduated with a major in journalism and a minor in photojournalism. He enjoys his life with various girlfriends while knocking back drinks in bars, going out to dinner, and rolling in the sheets. Yet inevitably, he grows tired of these surface-level-only feelings, shells out his standard goodbye speech, and moves on. However, using only his body and saying sayonara to his love lifeaEUR(tm)s revolving door is not how he wants to live for the rest of his life. How will he ever know what true love feels like if he doesnaEUR(tm)t ascertain how to actually give it? In what way will he begin to be able to discover the whole package that runs beneath the surface of a woman? Unexpectedly, Marty is blindsided when his best friend invites him to leave New Jersey for a weekend trip. Lauren Morris is a beautiful thirty-two-year-old woman who, after graduating at the age of twenty-one with a masteraEUR(tm)s degree in business, took a huge leap of faith and purchased an old farmhouse in Vermont. After ten years of hard work and sweat equity, she has transformed it into a beautiful inn that has become extremely lucrative. But winter is fast approaching, and she is dreading that feeling of loneliness that is connected to darkened afternoons and long, empty nights. Will a man ever enter her life? One that she could love and perhaps be with until death due them part? After meeting Marty, Lauren begins to consider if this man might be the one she has been waiting for her whole life. But then again, she is older than he is; long distance relationships hardly ever work out; and sudden heartbreaking unforeseen events rock both of their worlds. And if they do fall in love, which one of them will have to make the ultimate sacrifice and give up what theyaEUR(tm)ve worked so hard to achieve in order to be together? With so many changes causing so many challenges, will they get through them together, or will one push the other away?
Book Synopsis Tin and Inorganic Tin Compounds by : Paul Howe
Download or read book Tin and Inorganic Tin Compounds written by Paul Howe and published by World Health Organization. This book was released on 2005-12-23 with total page 82 pages. Available in PDF, EPUB and Kindle. Book excerpt: Published under the joint sponsorship of the United Nations Environment Programme, the International Labour Organization and the World Health Organization, and produced within the framework of the Inter-organization Programme for the Sound Management of Chemicals (IOMC). On cover: IPCS International Programme on Chemical Safety
Book Synopsis Space-Time Coding for Broadband Wireless Communications by : Georgios B. Giannakis
Download or read book Space-Time Coding for Broadband Wireless Communications written by Georgios B. Giannakis and published by John Wiley & Sons. This book was released on 2007-02-26 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: Eine vielversprechende Technologie zur Maximierung der Bandbreiteneffizienz in der breitbandigen drahtlosen Kommunikation ist die Raum-Zeit-Kodierung. Theorie und Praxis verbindend, ist dieses Buch die erste umfassende Diskussion von Grundlagen und designorientierten Aspekten von Raum-Zeit-Codes. Single-Carrier und Multi-Carrier-Übertragungen für Einzel- und Mehrnutzerkommunikation werden behandelt.
Book Synopsis Handbook of Aerospace Electromagnetic Compatibility by : Dr. Reinaldo J. Perez
Download or read book Handbook of Aerospace Electromagnetic Compatibility written by Dr. Reinaldo J. Perez and published by John Wiley & Sons. This book was released on 2018-11-30 with total page 768 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive resource that explores electromagnetic compatibility (EMC) for aerospace systems Handbook of Aerospace Electromagnetic Compatibility is a groundbreaking book on EMC for aerospace systems that addresses both aircraft and space vehicles. With contributions from an international panel of aerospace EMC experts, this important text deals with the testing of spacecraft components and subsystems, analysis of crosstalk and field coupling, aircraft communication systems, and much more. The text also includes information on lightning effects and testing, as well as guidance on design principles and techniques for lightning protection. The book offers an introduction to E3 models and techniques in aerospace systems and explores EMP effects on and technology for aerospace systems. Filled with the most up-to-date information, illustrative examples, descriptive figures, and helpful scenarios, Handbook of Aerospace Electromagnetic Compatibility is designed to be a practical information source. This vital guide to electromagnetic compatibility: • Provides information on a range of topics including grounding, coupling, test procedures, standards, and requirements • Offers discussions on standards for aerospace applications • Addresses aerospace EMC through the use of testing and theoretical approaches Written for EMC engineers and practitioners, Handbook of Aerospace Electromagnetic Compatibility is a critical text for understanding EMC for aerospace systems.
Book Synopsis Scientific Canadian Mechanics' Magazine and Patent Office Record by : Canada. Patent Office
Download or read book Scientific Canadian Mechanics' Magazine and Patent Office Record written by Canada. Patent Office and published by . This book was released on 1966-03 with total page 1070 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Electric Machines and Drives by : Miroslav Chomat
Download or read book Electric Machines and Drives written by Miroslav Chomat and published by BoD – Books on Demand. This book was released on 2011-02-28 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: The subject of this book is an important and diverse field of electric machines and drives. The twelve chapters of the book written by renowned authors, both academics and practitioners, cover a large part of the field of electric machines and drives. Various types of electric machines, including three-phase and single-phase induction machines or doubly fed machines, are addressed. Most of the chapters focus on modern control methods of induction-machine drives, such as vector and direct torque control. Among others, the book addresses sensorless control techniques, modulation strategies, parameter identification, artificial intelligence, operation under harsh or failure conditions, and modelling of electric or magnetic quantities in electric machines. Several chapters give an insight into the problem of minimizing losses in electric machines and increasing the overall energy efficiency of electric drives.
