Academic literature on the topic 'Découpe robotique'
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Journal articles on the topic "Découpe robotique"
Jouvent, R. "Demain les Psychothérapies." European Psychiatry 28, S2 (November 2013): 94. http://dx.doi.org/10.1016/j.eurpsy.2013.09.252.
Full textDissertations / Theses on the topic "Découpe robotique"
Long, Philip. "Contributions to the modeling and control of cooperative manipulators." Ecole Centrale de Nantes, 2015. http://www.theses.fr/2014ECDN0024.
Full textSubrin, Kévin. "Optimisation du comportement de cellules robotiques par gestion des redondances : application à la découpe de viande et à l'Usinage Grande Vitesse." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2013. http://tel.archives-ouvertes.fr/tel-00999471.
Full textSubrin, Kévin. "Optimisation du comportement de cellules robotiques par gestion des redondances : application à la découpe de viande et à l’Usinage Grande Vitesse." Thesis, Clermont-Ferrand 2, 2013. http://www.theses.fr/2013CLF22417/document.
Full textIndustrial robots have evolved fundamentally in recent years to reach the industrial requirements. We now find more suitable anthropomorphic robots leading to the realization of more complex tasks like deformable objects cutting such as meat cutting or constrained to high stresses as machining. The behavior study of anthropomorphic robots, parallel or hybrid one highlights a kinematic and dynamic anisotropy, which impacts the expected accuracy. This thesis studied the integration of the kinematic redundancy that can partially overcome this problem by well setting the task to achieve it in a space compatible with the expected capacity. This work followed a three-step approach: analytical modeling of robotic cells by serial equivalent based on the TCS method, formalizing the constraints of meat cutting process and machining process and a multicriteria optimization.The first originality of this work focuses on the development of a 6 DoFs model to analyze the operator actions who naturally optimizes his arm behavior to ensure the task it performs. The second originality concerns the optimized placement of structural redundancy (9 DoFs robotic cell) where positioning parameters are incorporated as controllable variables (11 DoFs robotic cell). Thus, the thesis makes contributions to : - the definition of criteria adapted to the realization of complex and under high stress task for the management of the kinematic redundancy; - the structural behavior identification, under stress, by metrology tools (Laser tracker ) and the self- adaptation paths by using an industrial force control; - the behavior optimization to improve the cutting process quality (meat cutting and machining)
Paulus, Christoph Joachim. "Topological changes in simulations of deformable objects." Thesis, Strasbourg, 2017. http://www.theses.fr/2017STRAD009/document.
Full textVirtual cutting of deformable objects is at the core of many applications in interactive simulation for computational medicine. We present a new remeshing algorithm simulating cuts based on the finite element method. For tetrahedral elements with linear shape tunctions, we combined our algorithm with the movement of the nodes on the cutting surface, called snapping. Our approach shows benefits when evaluating the impact of cuts on the number of nodes and the numerical quality of the mesh. The remeshing algorithm yields similar results for quadratic elements. However, the snapping of nodes entails higher challenges and has been evaluated on triangular elements, simulating fractures. For augmented reality applications, we are the first to present results on the detection of fractures, tearing and cutting from a monocular video stream. Examples in different contexts show the robustness of our algorithm and the augmentation of internai organ structures highlights the clinical interest
Nicoletti, Nathalie. "Contrôle dimensionnel par vision : Une application à des pièces découpées sur presses à grand débit." Besançon, 1988. http://www.theses.fr/1988BESA2036.
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