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Theses

Contribution à l'analyse de stabilité orientée tâche pour la préhension robotique : Application au cas de prises compliantes

Abstract : The promise of flexible and adaptable production brought by Industry 4.0 makes adaptive object grasping a particularly promising topic in both the scientific and industrial domains. Numerous designs of adaptive grippers, integrating both underactuation mechanics (reduced number of actuators compared to the number of joints) and deformable behaviors to conform to the grasped object, are emerging to meet this promise. The adaptability of these types of grippers allows for safer grasping, both for the tasks they are designed to perform, but also for the physical integrity of the objects being grasped. They therefore allow the realization of applications in many fields such as the manufacturing industry or the food industry, by bringing solutions where traditional rigid grippers were put in difficulty. Based on this observation, the work presented in this manuscript is interested in the study of grasp stability when using adaptive grippers, in order to quantify the adequacy of a given grasp with the task for which it is synthesized. The goal is to assist and/or automate grasp selection according to the chosen task.
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https://tel.archives-ouvertes.fr/tel-03689365
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Submitted on : Tuesday, June 7, 2022 - 10:43:11 AM
Last modification on : Wednesday, June 8, 2022 - 3:39:39 AM

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  • HAL Id : tel-03689365, version 1

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Ugo Vollhardt. Contribution à l'analyse de stabilité orientée tâche pour la préhension robotique : Application au cas de prises compliantes. Automatique / Robotique. Université Paris-Saclay, 2022. Français. ⟨NNT : 2022UPAST049⟩. ⟨tel-03689365⟩

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