Download or read book CONTRIBUTION A LA COMMANDE AVEC RECONSTRUCTION D ETAT DE ROBOTS MANIPULATEURS A ARTICULATIONS FLEXIBLES written by DOMINIQUE.. RAVAULT and published by . This book was released on 1997 with total page 107 pages. Available in PDF, EPUB and Kindle. Book excerpt: LE TRAVAIL PRESENTE ICI APPORTE UNE CONTRIBUTION AU PROBLEME DE LA COMMANDE AVEC RECONSTRUCTION D'ETAT DE ROBOTS MANIPULATEURS A ARTICULATIONS FLEXIBLES AVEC POUR OBJECTIF LA POURSUITE DE TRAJECTOIRES RAPIDES. DANS UNE PREMIERE PARTIE, NOUS PRESENTONS LES PRINCIPALES ETAPES QUI CONDUISENT A LA MODELISATION DE CES ROBOTS AINSI QUE CELLE DU PONT ROULANT. DEUX LOIS DE COMMANDE POUR ROBOTS MANIPULATEURS A ARTICULATIONS FLEXIBLES SONT ENSUITE ETUDIEES : - L'UNE BASEE SUR LA PASSIVITE QUI EXPLOITE LES PROPRIETES PHYSIQUES DES ROBOTS. - L'AUTRE EST UNE LOI DE COMMANDE LINEARISANTE PAR BOUCLAGE D'ETAT STATIQUE. PUIS NOUS ETUDIONS PLUSIEURS TYPES D'OBSERVATEURS NON-LINEAIRES. UTILISANT LES TECHNIQUES D'OBSERVATEUR A GRAND GAIN, NOUS PROPOSONS (APRES VERIFICATION DE PLUSIEURS CONDITIONS DE STRUCTURE) UN OBSERVATEUR POUR LES ROBOTS A ARTICULATIONS FLEXIBLES QUI NE NECESSITE QUE LES MESURES DE POSITION DES BRAS ET DES MOTEURS. ENFIN, S'INSPIRANT D'UNE STRUCTURE COMMANDE-OBSERVATEUR PASSIVE, NOUS PROPOSONS DANS LA DERNIERE PARTIE, UNE SYNTHESE DE LOI DE COMMANDE AVEC RECONSTRUCTION D'ETAT QUI COMBINE LA TECHNIQUE DE LA COMMANDE LINEARISANTE PAR BOUCLAGE STATIQUE ET LA TECHNIQUE DE CONSTRUCTION D'OBSERVATEUR A GRAND GAIN. CETTE COMMANDE PEUT PERMETTRE LA COMMANDE DE ROBOTS MANIPULATEURS A ARTICULATIONS FLEXIBLES AVEC POUR OBJECTIF LA POURSUITE DE TRAJECTOIRES RAPIDES SANS NECESSITER LES MESURES DES VITESSES, ACCELERATIONS OU JERKS (INFORMATIONS TRES BRUITEES OU NON DISPONIBLES).
Download or read book Contribution la commande avec reconstruction d tat de robots manipulateurs articulations flexibles written by D. P.. Ravault and published by . This book was released on 1997 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Contribution la mod lisation et la commande robuste de robots manipulateurs articulations flexibles Applications la robotique interactive written by Maria Makarov and published by . This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: La problématique traitée dans cette thèse concerne la commande de robots manipulateurs à articulations flexibles. Les méthodes développées visent à satisfaire les spécifications de performance et de robustesse en suivi de trajectoire, ainsi qu'à assurer un niveau de sécurité compatible avec un scénario de fonctionnement interactif dans lequel l'homme et le robot partagent un même espace de travail. Seules les mesures moteur sont utilisées dans un contexte d'instrumentation réduite. Le premier objectif de performance de la commande de mouvement est atteint grâce à l'identification expérimentale d'un modèle flexible représentatif du système, et l'usage de ce modèle pour la synthèse de lois de commande avancées intégrées au sein d'une structure cascade. Deux approches complémentaires fondées d'une part sur la commande prédictive de type GPC (Generalized Predictive Control), et d'autre part sur la commande Hinfini, sont considérées pour la synthèse de lois de commande à deux degrés de liberté, prédictives et robustes. Les performances de ces deux approches sont analysées et évaluées expérimentalement. Le deuxième objectif de sécurité est abordé à travers un algorithme de détection de collisions du robot avec son environnement, sans capteur d'effort et en présence d'incertitudes de modélisation. Afin de séparer efficacement les effets dynamiques des collisions de ceux des erreurs de modélisation, une stratégie adaptative de filtrage et de décision tenant compte de l'état du système est proposée. La validation expérimentale montre une très bonne sensibilité de détection, compatible avec les normes et les recommandations de sécurité relatives à la robotique collaborative.
Download or read book CONTRIBUTION A LA COMMANDE DYNAMIQUE ADPTATIVE DES ROBOTS MANIPULATEURS RAPIDES written by ABDELAZIZ.. BENALLEGUE and published by . This book was released on 1991 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: CE TRAVAIL TRAITE LES PROBLEMES DE COMMANDE DE ROBOTS POLYARTICULES RAPIDES DANS LE CAS SIMPLE OU LES ARTICULATIONS SONT RIGIDES, ET DANS LE CAS OU LES ARTICULATIONS SUBISSENT DES DEFORMATIONS DUES AUX DEPLACEMENTS A GRANDES VITESSES. LA PREMIERE PARTIE DE CE TRAVAIL EST CONSACREE AUX COMMANDES DYNAMIQUES DE ROBOTS RAPIDES SUPPOSES RIGIDES. UN PANORAMA SUR LA COMMANDE DYNAMIQUE APPARTENANT A LA PHASE DE PARAMETRISATION LINEAIRE NOUS A PERMIS DE DEGAGER UNE CLASSIFICATION DES LOIS EXISTANTES EN DEUX CLASSES, SUIVANT LEURS OBJECTIFS: LINEARISATION ET PASSIVITE. NOUS PROPOSONS EN SECOND LIEU UNE APPROCHE ADAPTATIVE QUI EXPLOITE LES AVANTAGES DES COMMANDES PASSIVES ET ROBUSTES TOUT EN EVITANT LES INCONVENIENTS DES METHODES LINEARISANTES. LES PERFORMANCES DE CHACUNE DE CES DERNIERES SONT EXPOSEES DANS LE CHAPITRE QUI PRESENTE LES RESULTATS D'UNE ETUDE COMPARATIVE EN SIMULATION. DANS LA SECONDE PARTIE DE CE TRAVAIL, NOUS SUPPRIMONS L'HYPOTHESE DE RIGIDITE DU ROBOT EN PRENANT EN COMPTE LES FLEXIBILITES DANS LES ARTICULATIONS. CES FLEXIBILITES SONT INTRODUITES SOUS FORME DE COUPLES DE RAIDEUR DANS LE MODELE DYNAMIQUE. APRES LA PRESENTATION D'UN ETAT DE L'ART SUR LA COMMANDE DE ROBOTS AVEC ARTICULATIONS FLEXIBLES, NOUS ABORDONS LA SYNTHESE DE LOIS DE COMMANDE QUI EXPLOITENT LES RESULTATS DE LA COMMANDE DE ROBOTS RIGIDES EN INTRODUISANT LA NOTION DE COMMANDE A DEUX ETAGES. UNE SECONDE LOI DE COMPENSATION A DEUX ETAGES A ETE PROPOSEE. BASEE SUR LA PASSIVITE, ELLE EST SIMPLE A METTRE EN UVRE ET A ANALYSER. ELLE UTILISE LES RESULTATS DE COMMANDE DE ROBOTS RIGIDES, DE L'APPROCHE PAR LES VARIETES INTEGRALES ET DE CELLE A DEUX ETAGES. UNE ETUDE COMPARATIVE DES LOIS ADAPTATIVES A DEUX ETAGES PROPOSEES ET UNE LOI ADAPTATIVE PROPOSEE DANS LA LITTERATURE, EST PRESENTE DANS LE CHAPITRE DES RESULTATS DE SIMULATION DE LA SECONDE PARTIE
Download or read book COMMANDES ET OBSERVATEURS NON LINEAIRES POUR LES ROBOTS MANIPULATEURS A ARTICULATIONS FLEXIBLES written by MOHAMMED AMAL.. BENNANI HASSAN and published by . This book was released on 1994 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: LE TRAVAIL PRESENTE DANS CETTE THESE EST UNE CONTRIBUTION A L'ETUDE DE COMMANDES ET D'OBSERVATEURS NON LINEAIRES POUR ROBOTS MANIPULATEURS A ARTICULATIONS FLEXIBLES. LES SEGMENTS SONT CONSIDERES RIGIDES. DEUX SCHEMAS DE COMMANDES ADAPTATIVES BASES SUR LA THEORIE DE LA PASSIVITE SONT PROPOSES. CES LOIS DE COMMANDE UTILISANT UN MODELE DYNAMIQUE SIMPLIFIE PERMETTENT D'IMPOSER, PAR UN CHOIX APPROPRIE DES GAINS, LA DYNAMIQUE D'ERREUR DU COUPLE DE FLEXION. PAR CONSEQUENT, LE COMPORTEMENT TRANSITOIRE DU SYSTEME EST INDEPENDANT DES PARAMETRES DU MODELE. DE PLUS, CES COMMANDES N'IMPOSENT AUCUNE CONTRAINTE SUR LA CONSTANTE DE RAIDEUR ET LA STABILITE DU SYSTEME EN BOUCLE FERMEE EST GLOBALEMENT ASYMPTOTIQUEMENT STABLE. LES SIMULATIONS MONTRENT DE TRES BONNES PERFORMANCES, EN POURSUITE ET AUSSI, POUR LA ROBUSTESSE PAR RAPPORT A LA VARIATION DES PARAMETRES. TOUTES LES MESURES NECESSAIRES AUX COMMANDES SONT SUPPOSEES DISPONIBLES (4 VARIABLES PAR ARTICULATION). OR, CE NOMBRE IMPORTANT DE CAPTEURS PAR ARTICULATION CREE UN PROBLEME D'ENCOMBREMENT. DANS UNE DEUXIEME PARTIE, UNE ETUDE D'OBSERVATEURS NON LINEAIRES EST REALISEE DANS LE CAS OU UNE PARTIE DE CES INFORMATIONS NE SONT PAS ACCESSIBLES. EN EXPLOITANT LES PROPRIETES DE PASSIVITE DU ROBOT MANIPULATEUR, LE SYSTEME NON LINEAIRE EN BOUCLE OUVERTE EST TRANSFORME EN UN SYSTEME LINEAIRE EN BOUCLE FERMEE CE QUI NOUS CONDUIT A DES FILTRES AYANT LA STRUCTURE DE LUEMBERGER RECONSTRUISANT L'ETAT ENTIER D'OBSERVATION AVEC UNE CONVERGENCE EXPONENTIELLE. LE PREMIER OBSERVATEUR PROPOSE EST GLOBALEMENT ASYMPTOTIQUEMENT STABLE QUAND AU SECOND QUI S'APPUIE SUR LES MESURES DES POSITIONS BRAS UNIQUEMENT, SEULE LA STABILITE ASYMPTOTIQUE EST ASSUREE
Download or read book Dynamics of Parallel Robots written by Sébastien Briot and published by Springer. This book was released on 2015-06-22 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Download or read book Advances in Robot Kinematics 2018 written by Jadran Lenarcic and published by Springer. This book was released on 2018-06-22 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.
Download or read book Informatics in Control Automation and Robotics written by Juan Andrade Cetto and published by Springer Science & Business Media. This book was released on 2011-03-15 with total page 346 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present book includes a set of selected papers from the fourth “International Conference on Informatics in Control Automation and Robotics” (ICINCO 2009), held in Milan, Italy, from 2 to 5 July 2009. The conference was organized in three simultaneous tracks: “Intelligent Control Systems and Optimization”, “Robotics and Automation” and “Systems Modeling, Signal Processing and Control”. The book is based on the same structure. ICINCO received 365 paper submissions, not including those of workshops, from 55 countries, in all continents. After a double blind paper review performed by the Program Committee only 34 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 9%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2009. Commitment to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics.
Download or read book Computer Generated Images written by Nadia Magnenat-Thalmann and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 495 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research, development, and applications in computer graphics have dramatically expanded in recent years. Because of decreasing prices, superior hardware is now being used and image quality is better than ever. Many people now require image-synthesis techniques and software for their applicaions. Moreover, the techniques of computer ani mation have become very popular. In this book, we present a wide range of applications of computer graphics. This book is a collection of 44 papers in various areas of computer graphics selected from papers presented at Graphics Interface '85. Graphics Interface '85, held from May 27 to 31 in Montreal, was the first truly international computer graphics conference in Canada. This year, for the first time, the conference was presented jointly by the Com puter Graphics Society and the Canadian Man-Computer Communications Society. This new arrangement gave the conference international scope. The conference was spon sored by the Department of Communications in Ottawa, the Department of Science and Technology in Quebec, Supply and Services Canada, the Natural Sciences and Engineer ing Research Council of Canada, Hydro-Quebec, the "Association Canadienne Fran«aise pour I' Avancement des Sciences", and the Canadian Broadcasting Corpora tion. Graphics Interface '85 was organized by "1'Ecole des Hautes Etudes Commerciales" of the University of Montreal. Over 100 papers were submitted to the conference , but 64 were selected by the inter national program committee for presentation. This book contains new expanded versions of the papers.
Download or read book Analysis and Design of Biological Materials and Structures written by Andreas Öchsner and published by Springer. This book was released on 2014-02-23 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This collection provides researchers and scientists with advanced analyses and materials design techniques in Biomaterials and presents mechanical studies of biological structures. In 16 contributions well known experts present their research on Stress and Strain Analysis, Material Properties, Fluid and Gas mechanics and they show related problems.
Download or read book Government Reports Announcements Index written by and published by . This book was released on 1988 with total page 1132 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Theoretical Kinematics written by O. Bottema and published by Courier Corporation. This book was released on 1990-01-01 with total page 594 pages. Available in PDF, EPUB and Kindle. Book excerpt: Classic, comprehensive treatment covers Euclidean displacements; instantaneous kinematics; two-position, three-position, four-and-more position theory; special motions; multiparameter motions; kinematics in other geometries; and special mathematical methods.
Download or read book Robotics written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2010-08-20 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Download or read book A Mystery of Heroism written by Stephen Crane and published by Harper Collins. This book was released on 2009-04-28 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt: Though best known for The Red Badge of Courage, his classic novel of men at war, in his tragically brief life and career Stephen Crane produced a wealth of stories—among them "The Monster," "The Upturned Face," "The Open Boat," and the title story—that stand among the most acclaimed and enduring in the history of American fiction. This superb volume collects stories of unique power and variety in which impressionistic, hallucinatory, and realistic situations alike are brilliantly conveyed through the cold, sometimes brutal irony of Crane's narrative voice.
Download or read book The Anthropology of Fear written by Andrea Boscoboinik and published by LIT Verlag Münster. This book was released on 2014 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Avoiding the lure of a psychological conceptualisation of fear, all chapters in this volume substantiate the criticism towards specific postmodern trends in anthropology that would rather focus on the individual dimension of fear, thus missing its social aspects. Fear cannot and must not be reduced to an emotional phenomenon, but must rather be regarded by anthropologists as the prime mover of rational management in dangerous or risky situations. The various forms of fear appear to be shaped by societies." -- Christian Giordano, U. of Fribourg (Series: Fribourg Studies in Social Anthropology / Freiburger Sozialanthropologische Studien / Etudes d'Anthropologie Sociale de l'Universite de Fribourg - Vol. 41)
Download or read book Analysis and Optimization of Systems written by Alain Bensoussan and published by . This book was released on 1986 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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:
