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Enchaînements dynamiques de tâches pour des manipulateurs mobiles à roues

Abstract : Nowadays, robotics missions induce large workspaces of the robots. This extension explains the growing usage of mobile manipulators which are systems combining a mobile platform and means of manipulation. Among those systems that can take various shapes, we distinguish wheeled mobile manipulators which are systems combining a wheeled mobile platform and a manipulator arm. This PhD thesis report presents our contribution to the coordinated control of this kind of system, at an operational level, within the framework of complex missions execution based on the dynamic sequencing of tasks whose natures are different : motion, force. Using generic kinematics models of these systems, we have developed a unified dynamic model which can be used for control purpose (computed torque). We also propose a structure allowing the integration of operational control laws and ensuring the respect of secondary constraints inherent to the system or induced by the environment (obstacles for example). This structure manages the tasks sequencing and permits the reactive adaptation of the desired trajectories (that are planned or generated in real time) in order to handle uncertainties. This approach was validated in simulation but also using robot H2Bis+GT6A of the LAAS laboratory in Toulouse.
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Contributor : Vincent Padois <>
Submitted on : Thursday, November 2, 2006 - 8:32:58 PM
Last modification on : Monday, March 21, 2016 - 5:29:14 PM
Long-term archiving on: : Friday, November 25, 2016 - 1:48:30 PM


  • HAL Id : tel-00011677, version 3



Vincent Padois. Enchaînements dynamiques de tâches pour des manipulateurs mobiles à roues. Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2005. Français. ⟨tel-00011677v3⟩



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