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Etude d'une méthodologie de modélisation et de commande d'un robot multiaxe pour une application en radiologie médicale

Abstract : This PhD thesis deals with the problem of the modelling and the control of poly-articulated robots used for medical imaging systems. The methodologies of modelling and the control issues are considered particularly in the case of the vibration reduction. This work proposes a bottom-up approach, where a monoaxis robot case a studied in order to address the theoretical issues and understand the solutions' impact. Then, the concept is extended to cover the multiaxis robot case. The proposed modelling approach consists of modelling the robot gantry as well as the drive chains. Besides, modelling the drive chain irreversibilities and the structural flexibilities was considered so as to create a complete simulation environment of the medical robot. The developed robot models formed the base for the control laws development and validation. The study focused on the trajectories generation, the anticipation action, and the controller design. A considerable part of this work was dedicated to the experimental validation of the elaborated models as well as the control laws validation.
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https://tel.archives-ouvertes.fr/tel-00431416
Contributor : Josiane Dartron <>
Submitted on : Thursday, November 12, 2009 - 11:26:48 AM
Last modification on : Monday, December 14, 2020 - 12:38:04 PM
Long-term archiving on: : Saturday, November 26, 2016 - 1:13:58 PM

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  • HAL Id : tel-00431416, version 1

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Omar Al Assad. Etude d'une méthodologie de modélisation et de commande d'un robot multiaxe pour une application en radiologie médicale. Automatique / Robotique. Université Paris Sud - Paris XI, 2009. Français. ⟨tel-00431416⟩

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