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Automatisation et amélioration de performances d'application pick & place multi-robots

Abstract : This work belongs to the field of packaging. To best of our knowledge, in industrial and academic context, there are no digital tools that take into account all the steps of the development cycle to assist in the sizing and in the improvement of performance of multi-robots pick & place applications. The aim of these works is the development of a methodology usable, using a single software tool, throughout the creation cycle of a pick & place application. Firstly, kinematics of different robots and their environment are addressed. Secondly, control laws for individual and collaborative work of robots are developed. Finally, the transfer of the program from simulation to experimentation is carried out. At each step, a testing phase is initiated. Behavioral tests to check the robots operation and their interaction with their environment are performed. Simulation tests of the different algorithms are carried out according different configurations of pick & place application. Finally, a comparison between the result in simulation and in experimentation shows the relevance of the proposed approach.
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Submitted on : Tuesday, March 28, 2017 - 4:29:08 PM
Last modification on : Monday, September 13, 2021 - 2:44:03 PM


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  • HAL Id : tel-01497417, version 1


Gaël Humbert. Automatisation et amélioration de performances d'application pick & place multi-robots. Automatique / Robotique. Université de Lyon, 2016. Français. ⟨NNT : 2016LYSEI036⟩. ⟨tel-01497417⟩



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