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Développement d'une loi de commande avancée pour la maitrise des vibrations des robots sériels à liaisons flexibles

Abstract : Nowadays, the demand of productivity in the industrial world of robotics require robots to behave optimally in terms of geometric and dynamic accuracy and response time. Thus, the presence of flexibilities in rotational joints can dynamically limit the position control of manipulators having lighter arms, higher payload-to-weight ratio and doing tasks at high speed. The problem addressed in this work concerns the vibration control of serial robots with flexible joints performing Pick and Place tasks. In this work, we carry out modelling and experimental identification of the geometric and dynamic parameters of a robot with flexible joints. This model is then used in the synthesis of a model-based control law dedicated to manipulators with flexible joints. This strategy reduces vibrations resulting from joints sensitivity during dynamically demanding phases. Simulations on a Scara robot are then conducted to validate the relevance of the proposed control law which integrates joint flexibilities in the form of a feedback loop in the control diagram. To this end, three other control strategies (PD control, control dedicated to rigid structures and control not considering damping) are applied to the same simulator in order to make a comparative analysis. The diagram of the model-based control law allows to respect the set point with a reduction in the stabilization time.Finally, the calculation of the servo error allowed us to see the influence of flexibility modeling errors on the accuracy of the task. In this context, the sensitivity of this control law is evaluated through a sensitivity analysis.
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Submitted on : Thursday, May 23, 2019 - 8:57:42 AM
Last modification on : Wednesday, February 24, 2021 - 4:16:03 PM


Version validated by the jury (STAR)


  • HAL Id : tel-02137409, version 1


Jacques Farah. Développement d'une loi de commande avancée pour la maitrise des vibrations des robots sériels à liaisons flexibles. Génie mécanique [physics.class-ph]. Université Clermont Auvergne, 2019. Français. ⟨NNT : 2019CLFAC002⟩. ⟨tel-02137409⟩



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