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Theses

Conception préliminaire de manipulateurs mobiles et génération de consignes évolutionnaires : une méthodologie pour intégrer la commande dans l'évaluation de la structure

Abstract : The aim of this thesis is setting of a methodology for mobile manipulator task-based preliminary design. Evolutionary algorithms are used to perform manipulator and command input synthesis. The methodology deals with several levels of task-based
optimization :

- the research of initial configuration of the robots, using
minimization of the position error between the mobile manipulator effector and the desired initial position, minimization of the performed direction and the desired direction, obstacle avoidance
- the command input generator, using minimization of the position error between the effector trajectory and the desired trajectory, obstacle avoidance and minimization of the distance to the desired final position
- preliminary elimination of the task local unfit structures before control testing, using respect of the geometric constraint, obstacle avoidance, minimization of the robots' mass and dexterity maximization

Final selection of a structural solution is essentially based on its ability to perform the task. The different aspects of the methodology are detailed and analyzed according to simulation results which validate the approach pertinence. Advantages of the use of evolutionary algorithms and the adaptations that are
developed in this manuscript, also their limits, are synthesized at the end of the document.
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Theses
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https://tel.archives-ouvertes.fr/tel-00120472
Contributor : Sophie Sakka <>
Submitted on : Friday, December 15, 2006 - 10:57:06 AM
Last modification on : Wednesday, December 9, 2020 - 3:11:27 PM
Long-term archiving on: : Wednesday, April 7, 2010 - 12:50:05 AM

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  • HAL Id : tel-00120472, version 1

Citation

Sophie Sakka. Conception préliminaire de manipulateurs mobiles et génération de consignes évolutionnaires : une méthodologie pour intégrer la commande dans l'évaluation de la structure. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2002. Français. ⟨tel-00120472⟩

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