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Commande robuste des robots parallèles à câbles avec mesure extéroceptive

Abstract : This thesis presents a complete work on modelling, identification and control of cable-driven parallel robots in order to improve the dynamic performances in terms of speed, precision and robustness, while managing the problems related to the use of cables. In the context of these researches, the identification and control techniques are improved thanks to the use of exteroceptive sensors, in particular using vision. Methods from the fields of robotics and control are implemented and compared. The experimental validations are performed on a demonstrator available in the laboratory : an INCA 6D robot designed by Haption company, equipped with a Bonita motion capture system developed by Vicon company.
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Submitted on : Monday, July 3, 2017 - 9:49:49 AM
Last modification on : Thursday, December 2, 2021 - 3:16:53 AM
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  • HAL Id : tel-01552632, version 1


Ryad Chellal. Commande robuste des robots parallèles à câbles avec mesure extéroceptive. Robotique [cs.RO]. Université de Strasbourg, 2016. Français. ⟨NNT : 2016STRAD039⟩. ⟨tel-01552632⟩



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