Conception et commande collaborative de manipulateurs mobiles modulaires (C3M3)

Abstract : In recent years, the concept of Industry 4.0 has led to new possibilities of use for mobile manipulators (MMs) that are generally made of a manipulator arm mounted on a mobile base. The current Ph.D. is focused on the synthesis and control of new cooperative MMs by defining three challenges. The first challenge concerns the widening of the fields of application of robots. Therefore, we define a modular robotic system based on the use of multiple MMs (mono robots or m-bots) that can be used as a global system (poly-robot or p-bot) for collaborative tasks. The second challenge concerns the definition of the kinematic structure of the MMs. We propose a new generic method of structural synthesis that allows to obtain multiple kinematic architectures for m-bots that respect the constraints imposed by the task and the workspace. This method is based on structural analysis of MMs by the evaluation of the structural parameters (connectivity, mobility, redundancy and overconstraint). The last challenge concerns the modelling and control of the new architectures for the new fields of application. Two control laws (PID control and hybrid force-position control) are proposed in order to realise the considered task. Their validation is done with advanced simulations.
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Zine Elabidine Chebab. Conception et commande collaborative de manipulateurs mobiles modulaires (C3M3). Automatique / Robotique. Université Clermont Auvergne, 2018. Français. ⟨NNT : 2018CLFAC070⟩. ⟨tel-02130445⟩

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