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Theses

Commande des bras manipulateurs et retour visuel pour des applications à la robotique de service

Abstract : In the context of service robotic, robots have to interact with environment and human. Human presence create a particular context where security and comfort take precedent over system dynamic. As environment is not fixed in this context, the use of exteroceptive sensors is necessary. A first subject developed in the report is the trajectory planning for which we propose to limit velocity, acceleration and jerk. Trajectories are then defined as a sequence of cubic, seven in most to go from a initial position to any final position. The method is extended to space and to the tracking of trajectory defined by points. The rotations are represented by quaternions. We then propose a visual servoing scheme based on the tracking of planned soft movements. Using an extended Kalman filter to estimate the target position permit a self calibration of the system. Simulations and experimentations with the Jido robot permit to validate this approach. The trajectory planner is used daily on Jido for the european Cogniron project.
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https://tel.archives-ouvertes.fr/tel-00199179
Contributor : Arlette Evrard <>
Submitted on : Tuesday, December 18, 2007 - 3:43:22 PM
Last modification on : Friday, January 10, 2020 - 9:08:09 PM
Long-term archiving on: : Thursday, September 27, 2012 - 11:45:49 AM

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  • HAL Id : tel-00199179, version 1

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Ignacio Herrera-Aguilar. Commande des bras manipulateurs et retour visuel pour des applications à la robotique de service. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2007. Français. ⟨tel-00199179⟩

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