Mesure visuel de position par vision pour la microrobotique à l'aide de mires périodiques

Abstract : Position metrology is a critical domain in microrobotics, where high scale factors and perturbations often force to use numerous high-performance sensors.Vision offers very interesting tools, both in terms of congestion and number of measurable degrees of freedom.The work developed during this thesis aims at bringing, thanks to pseudo-periodic patterns, solutions to the different locks conventionally encountered in this context, in particular in terms of range-to-resolution ratio or multi-DDL measurement.Several original methods have been proposed, tested experimentally on several types of applications (position measurement, visual servoing, force measurement, etc.) and maded in response to the various problems raised (nanometric precision on millimetric range, 6~DDL measurement, high robustness, etc.).
Document type :
Theses
Complete list of metadatas

Cited literature [141 references]  Display  Hide  Download

https://tel.archives-ouvertes.fr/tel-02313813
Contributor : Abes Star <>
Submitted on : Friday, October 18, 2019 - 3:51:12 PM
Last modification on : Saturday, October 19, 2019 - 1:19:05 AM

File

these_A_GUELPA_Valerian_2017.p...
Version validated by the jury (STAR)

Identifiers

  • HAL Id : tel-02313813, version 2

Citation

Valérian Guelpa. Mesure visuel de position par vision pour la microrobotique à l'aide de mires périodiques. Automatique / Robotique. Université Bourgogne Franche-Comté, 2017. Français. ⟨NNT : 2017UBFCD047⟩. ⟨tel-02313813v2⟩

Share

Metrics

Record views

40

Files downloads

6