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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.).
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Submitted on : Friday, October 18, 2019 - 3:51:12 PM
Last modification on : Thursday, November 12, 2020 - 9:42:17 AM


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  • HAL Id : tel-02313813, version 2


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⟩



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