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Contribution à la commande dynamique référencée capteurs de robots parallèles

Abstract : Presented research works deal with the prediction and accuracy improvement of the parallel kinematic machines. These works mainly apply to the machines used for complex tasks as fast pick-and-place or high speed machining. The presented works focus on the coherence of the triplet modeling - identification - control. These works originality is to take into account the machine specificities and the task dynamics into the control schemes by using an adapted perception. The main contribution of theses thesis works is to propose a Cartesian space dynamic control using an exteroceptive measure of the end-effector pose. This control strategy allows for a better accuracy than the classical strategies. Indeed, there are less numerical estimations, mainly in the dynamics computation. Moreover, the Cartesian space control allows for a full control of the end-effector moves, especially in the neighbourhood of singularities. These improvements are confirmed with simulation results. The experimental development of a 1 kHz fast visual sensor allows for an experimental validation of these works.
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Submitted on : Monday, August 27, 2012 - 1:50:12 PM
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  • HAL Id : tel-00725568, version 1


Flavien Paccot. Contribution à la commande dynamique référencée capteurs de robots parallèles. Automatique / Robotique. Université Blaise Pascal - Clermont-Ferrand II, 2009. Français. ⟨NNT : 2009CLF21929⟩. ⟨tel-00725568⟩



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