Conception, optimisation et commande d'un stablisateur actif pour la compensation des vibrations des robots parallèles à câbles

Maximilian Lesellier 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this thesis, an active stabilizer is designed to be embedded on the platform of a Cable-Driven Parallel Robot (CDPR) and to damp vibrations affecting the platform by producing a wrench on it.First, a mechanical modeling of various active stabilization devices allows the choice of an appropriate solution for vibration damping. The selected solution consists of a stabilizer composed of rotating arms. Then, this model is used to optimize the stabilizer structure by looking at which arm arrangement maximizes the power delivered by the stabilizer to the CDPR mobile platform.A control strategy is then proposed for the system consisting of the CDPR mobile platform and the embedded active stabilizer. As this system consists of two parts operating at different time scales, the singular perturbation theory is used to prove the stability of the proposed control.Finally, simulation experiments make it possible to validate the use of an on-board active stabilizer to damp the vibrations of the mobile platform of a CDPR, and controlled with the control law proposed in this thesis.
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Maximilian Lesellier. Conception, optimisation et commande d'un stablisateur actif pour la compensation des vibrations des robots parallèles à câbles. Automatique / Robotique. Université Montpellier, 2019. Français. ⟨NNT : 2019MONTS004⟩. ⟨tel-02283308⟩

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