Teses / dissertações sobre o tema "Robots – Travail"
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Lu, Yu. "Etude du volume de travail des robots : enveloppe, atteignabilite". Paris, ENSAM, 1988. http://www.theses.fr/1988ENAM0002.
Texto completo da fonteLu, Yu. "Etude du volume de travail des robots enveloppe, atteignabilité /". Grenoble 2 : ANRT, 1988. http://catalogue.bnf.fr/ark:/12148/cb37615349z.
Texto completo da fonteLe, Nagard Éric. "Poste de travail pour la programmation de robots autour de "RCCL"". Paris 11, 1988. http://www.theses.fr/1988PA112327.
Texto completo da fonteThis thesis is the result of reflections on the theme of the realisation of a workstation for robot programming. Its aim is to prove the feasibility of a system which integrates the modelling of robots, the assistance on program writing and the simulation and validation of written programs. This lead us to make a CAD type system dedicated to the modelling of articulated systems as the manipulators are. The data collected by the system are exploited within the context of a data base to enable the visualization of the robot computerized movements in the form of an animated image (by means of a simulator). These data are also used to generate automatically the direct and inverse kinematic models of a large range of manipulators. The realisation of the main modulus of a typical robot computer programming workstation enabled us to suppress the stumbling points of such a system
Noreils, Fabrice. "Contrôle d'éxécution de plans d'actions et architecture pour robots mobiles". Toulouse 3, 1989. http://www.theses.fr/1989TOU30213.
Texto completo da fonteSchreiber, Louis Thomas. "La redondance cinématique dans les robots parallèles pour l'augmentation de l'espace de travail en orientation". Doctoral thesis, Université Laval, 2019. http://hdl.handle.net/20.500.11794/67932.
Texto completo da fonteThis thesis deals with the use of kinematic redundancy in parallel robots to increase their orientational workspace. Multiple new architectures are introduced and analysed. The emphasis is on purely parallel architectures since serial and hybrid arrangements are already much better known. First, a literature review article positions the project in the current context. This article shows how kinematic redundancy compares to actuation redundancy and other hybrid architectures. The advantages and disadvantages of each are highlighted. This article also sheds light on the type of layout (serial or parallel) of the actuators for the different types of redundancy. The mathematical bases for kinematic modeling of several architectures are also given. In the second article, two architectures of planar mechanisms are presented and analyzed (inverse and forward kinematic problem, singularity analysis, workspace). Planar architectures are used to introduce redundancy management with a simple case (a single redundant degree of freedom). The redundancy management algorithm must define the best configuration of the redundant degree of freedom while respecting the physical limits of the mechanism (speeds, interferences). A four-degree-of-freedom architecture (SCARA movement) with one redundant degree of freedom is then introduced in the third article. This architecture has the particularity of not being limited (neither by mechanical interferences nor by singularities) in terms of rotation. Kinematic and workspace analyses are presented and a prototype demonstrates convincing experimental results. Then, the fourth article introduces a six-degree-of-freedom architecture with three redundant degrees of freedom. This architecture occupies a large part of the work presented in this thesis. It is derived directly from the Gough-Stewart platform. The kinematic model and an analysis of the singularities of the mechanism are presented. A geometric analysis shows the singularity avoidance capabilities and a workspace analysis shows very high platform tilting and twisting capabilities. The fifth article presents two spherical joints that have been developed specifically for the six-degree-of-freedom architecture. The operating principle of these two spherical joints is explained and the large range of motion (tilting angle) is demonstrated. Two prototypes are presented. The sixth article introduces different methods to exploit the redundancy of the six-degreeof- freedom manipulator while respecting the physical limits of the mechanism (mechanical interference as well as the speed limits of the actuators). A first method attempts to use an analytical expression of the determinant of the Jacobian matrix. The second is purely geometric and is inspired from Grassmann geometry. The third uses a complete discretization of the Cartesian trajectories and the space of the redundant degrees of freedom. Finally, the fourth method uses local optimization. The results of the different methods are then compared.
Le, Nagard Eric. "Poste de travail pour la programmation de robots autour de "RCCL"". Grenoble 2 : ANRT, 1988. http://catalogue.bnf.fr/ark:/12148/cb376151978.
Texto completo da fonteMarquand, Marie-Laurence. "Contribution à l'étude et à la réalisation d'un logiciel de programmation graphique de l'environnement de travail d'un robot industriel". Aix-Marseille 3, 1992. http://www.theses.fr/1992AIX30071.
Texto completo da fonteSaenz, Jose. "Méthodologie pour la conception d'espaces de travail sûrs, avec la collaboration de robot humain". Thesis, Paris, ENSAM, 2019. http://www.theses.fr/2019ENAM0070.
Texto completo da fonteThis thesis focuses on the development of a method for considering the safetyaspects of industrial applications featuring human-robot collaboration(hrc applications) during the design phase based on systems engineering,ontologies, an industry 4.0 concepts. requirements on a new approach to theconsideration of safety based upon the needs of the designer and safetyexpert were formulated and guided the processes of architecturespecification and component modelling that are the focus of this thesis. anarchitecture that utilizes existing cad/simulation tools that designerscurrently use was specified. the approach was implemented as a computeraidedsafety tool (cas tool) and the design results were compared withtraditional methods with two exemplary use-cases. with the cas tool, itwas possible to quickly make changes to the design, particularly thecomponents such as the robot and safety sensors. the safety zonescalculated with the cas tool are up to 66% smaller than with traditional,worst-case methods
Delignieres, Serge. "Choix de morphologie de robots". Nantes, 1987. http://www.theses.fr/1987NANT2057.
Texto completo da fonteBalayn, Philippe. "Conception et réalisation d'un scrutateur spatial dédié à la sécurité des sites robotises". Lyon, INSA, 1991. http://www.theses.fr/1991ISAL0091.
Texto completo da fonteThis research deals with the design and the realization of a device dedicated to safety on a robot cell. This system is based on a three dimensional scanning principle and two functions of detection and localization. The first chapter introduces the general problems of manufacturing and leads to the operational safety concept. The second chapter proposes an original classification of safety devices which takes into account their flexibility and their "intelligence". The specifications of the 3D scanner are presented in chapter three. The mechanical structure using some properties of the Euclidean Algorithm, generates a sphero-trochoidal trajectory. The designed prototype is described at the end of this chapter. The last chapter proposes several 3D scanning approaches, and a real management of the stop strategies
Lessanibahri, Saman. "Cable-Driven Parallel Robots with Large Translation and Orientation Workspaces". Thesis, Ecole centrale de Nantes, 2020. https://tel.archives-ouvertes.fr/tel-03174262.
Texto completo da fonteCable-Driven Parallel Robots (CDPRs) also noted as wire-driven robots are parallel manipulators with flexible cables instead of rigid links. A CDPR consists of a base frame, a moving-platform and a set of cables connecting the moving-platform to the base frame. CDPRs are well-known for their advantageous performance over classical parallel robots in terms of translation workspace, reconfigurability, payload capacity and high dynamic performance. However, most of the CDPRs provide limited amplitudes of rotation of the moving-platform due to cable/cable and cable/moving-platform collisions. The objective of this thesis is to design, analyze and build hybrid CDPRs to enlarge the orientation workspace in addition to their large translation workspace by exploiting cableloops. This research work presents development of three hybrid CDPRs with drastically augmented orientation workspace suitable for tasks requiring large orientation and translational workspaces like tomography scanning, camera-orienting devices, visual surveillance and inspection
Gagliardini, Lorenzo. "Reconfigurations discrètes de robots parallèles à câbles". Thesis, Ecole centrale de Nantes, 2016. http://www.theses.fr/2016ECDN0002/document.
Texto completo da fonteCable-Driven Parallel Robots (CDPRs) are parallel robots whose legs consist of cables. CDPRs may be used successfully in several industrial applications such as sandblasting and painting of large and heavy structures.The first part of this manuscript is dedicated to the modelling of CDPRs. Two elasto-static models have been introduced in this manuscript, in order to describe the small displacement of the moving platform due to the non-rigid nature of the cables. These models can be used for the modal analysis of the CDPRs, as well. The elasto-static model based on linear cables has been computed including the effect of the pulleys orienting the cables into the CDPR workspace.The second part of this manuscript deals with the investigation of the workspace of CDPRs, in terms of their moving platform static and dynamic equilibria, and in terms of their moving platform kinematic constraints. Two novel workspaces have been defined: (i) the Twist Feasible Workspace (TFW); (ii) the Improved Dynamic Feasible Workspace (IDFW). The third part of this manuscript describes a generic design strategy for CDPRs and a novel design strategy for Reconfigurable Cable-Driven Parallel Robots (RCDPRs). In this manuscript, reconfigurations are limited to the thedisplacement of the cable exit points, assuming the cables exit points can be installed on a large but finite set of locations.The fourth part of this manuscript introduces an algorithm to compute an optimal reconfiguration strategy for RCDPRs. This strategy can be used when the working environment of the RCDPR is extremely cluttered and when it is not possible to predict how many configurations are necessary to complete the task. The effectiveness of the algorithm hasbeen analysed by means of a planar and a spatial casestudies reproducing some industrial tasks
Bourbonnais, Francis. "Utilisation optimale de l’espace de travail des robots parallèles en affrontant certains types de singularités". Mémoire, École de technologie supérieure, 2012. http://espace.etsmtl.ca/1097/1/BOURBONNAIS_Francis.pdf.
Texto completo da fonteRobert, Frédéric. "Coopération multi-robots par insertion incrémentale de plans". Toulouse, INPT, 1996. http://www.theses.fr/1996INPT051H.
Texto completo da fontePerret, Jérôme. "Téléprogrammation au niveau tâche pour un robot mobile autonome d'intervention sur site distant". Toulouse 3, 1995. http://www.theses.fr/1995TOU30264.
Texto completo da fonteRasheed, Tahir. "Collaborative Mobile Cable-Driven Parallel Robots". Thesis, Ecole centrale de Nantes, 2019. http://www.theses.fr/2019ECDN0055.
Texto completo da fonteThis thesis presents a novel concept of Mobile Cable - Driven Parallel Robots (MCDPRs) as a new robotic system. MCDPR is composed of a classical C able - D riven P a rallel R obot (CDPR) mounted on multiple mobile bases. MCDPRs combines the autonomy of mobile robots with the advantages of CDPRs, namely, large workspace, high payload - to - weight ratio, low end - effector inertia, deployability and reconfigurability. Moreover , MCDPRs presents a new technical innovation that could help to bring more flexibility and versatility with respect to existing industrial robotic solutions. Two MCDPRs prototypes named FASTKIT and MoPICK have been developed during the course of this the sis. FASTKIT is composed of two mobile bases carrying a six degrees - of - freedom moving - platform, pulled by eight cables , with a goal to provide a low cost and versatile robotic solution for logistics. MoPICK is composed of a three degrees - of - freedom movi ng - platform pulled by four cables mounted on four mobile bases. The targeted applications of MoPICK are mobile tasks in a constrained environment, for example, a workshop or logistic operations in a warehouse. The contributions of this thesis are as follow s. Firstly, all the necessary conditions are studied that required to achieve the static equilibrium of a MCDPR . These conditions are used to develop a Tension Distribution Algorithm for the real time control of the MCDRP cables. The equilibrium conditions are also used to investigate the Wrench - Feasible - Workspace of MCDPRs. Afterwards, the kinematic performance and twist capabilities of the MCDPRs are investigated. Finally, the last part of the thesis presents multiple path planning strategies for MCDPRs i n order to reconfigure the CDPR’s geometric architecture for performing the desired task
Arrouk, Khaled. "Techniques de conception assistée par ordinateur (CAO) pour la caractérisation de l'espace de travail de robots manipulateurs parallèles". Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2012. http://tel.archives-ouvertes.fr/tel-00766814.
Texto completo da fonteShayya, Samah Aref. "Vers des robots et machines parallèles rapides et précis". Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS257/document.
Texto completo da fonteParallel manipulators (PMs) have been there for more than half a century and they have been subject of intensive research. In comparison with their serial counterparts, PMs consist of several kinematic chains that connect the fixed base to the moving platform. The interest in such architectures is due to the several advantages they offer, among which we mention: high rigidity and payload-to-weight ratio, elevated dynamical capabilities due to reduced moving masses (especially when the actuators are at or near the base), better precision, higher proper frequencies, etc. Nevertheless, despite of the aforementioned merits, their exploitation as machine tools is still timid and limited, in which they most often do not exceed the research and prototyping stages at university laboratories and machine tool manufacturers. The main drawbacks that hinder the widespread of parallel kinematic machines (PKMs) are the following: limited operational workspace and tilting capacity, presence of singular configurations, design complexities, calibration difficulties, collision-related problems, sophistication of control (especially in the case of actuation redundancy), etc. Besides, though PMs have met a great success in pick-and-place applications, thanks to their rapidity (acceleration capacity), still their precision is less than what has been initially anticipated. On the other hand, extremely precise PMs exist, but unfortunately with poor dynamic performance. Starting from the aforementioned problematics, the current thesis focuses on obtaining PKMs with a good compromise between rapidity and precision. We begin by providing a survey of the available literature regarding PKMs and the major advancements in this field, while emphasizing the shortcomings on the level of design as well as performance. Moreover, an overview on the state of the art regarding performance evaluation is presented and the inadequacies of classical measures, when dealing with redundancy and heterogeneity predicaments, are highlighted. In fact, if finding the proper architectures is one of the prominent issues hindering PKMs' widespread, the performance evaluation and the criteria upon which these PKMs are dimensionally synthesized are of an equal importance. Therefore, novel performance indices are proposed to assess precision, kinetostatic and dynamic capabilities of general manipulators, while overcoming the aforementioned dilemmas. Subsequently, several novel architectures with 3T-2R and 3T-1R degrees of freedom (T and R signify translational and rotational degrees of freedom), namely MachLin5, ARROW V1, and ARROW V2 with its mutated versions ARROW V2 M1/M2, are presented. Furthermore, the dimensional synthesis of the executed PKM, namely ARROW V2 M2, is discussed with its preliminary performances and possible future enhancements, particularly regarding precision amelioration
Degallaix, Bernard. "Une architecture pour la téléprogrammation au niveau tâche d'un robot mobile autonome". Toulouse 3, 1993. http://www.theses.fr/1993TOU30027.
Texto completo da fonteCloutier, Guy M. "Contribution à l'adaptation robot-tache : prise en compte et exploitation de l'anisotropie du robot et de l'objet de la tache en vue de la conception du poste de travail". Lyon, INSA, 1991. http://www.theses.fr/1991ISAL0095.
Texto completo da fonteThis document introduces an approach to the design of robot workstations based on the intrinsic and extrinsic task constraints. It presents our reflexions concerning the off-line "preadaptation" function through physical configuration of the workstation. We show that (equi-probability) Chyper)ellipsoids having (of) equi-probability of pose or compliance result from the structured parameters and the joint properties of a robot. From these two ellipsoïdale envelopes, we define a robottask conformity index that expresses its adequecy for jointpostures. He also introduce the utilization of the robot's natural (anisotropie), generally considered as a handicap. A representation madel will give the limits of the domaine for which the robot possesses the required charecteristics to execute the task, i. E. The joint limits not to surpasse for task adaptability. For an isolated task, the direct kinematics of the inverted structure is used to exploit this representation madel. However, production often takes place in a multi-tasking context. Here, apart from the constraints specifie to the tasks, new inter-task constraintes in the space of large solid body motions are imposed depending upon the relative situations of the tasks. We propose two solutions to the design of an adapted robot localization in a multi-tasking environment of rigidly predetermined tasks. New definitions are introduced to this end. They provide practical means to apply the standardized concept of a useful workspace
Hubert, Julien. "Manipulateurs parallèles, singularités et analyse statique". Phd thesis, École Nationale Supérieure des Mines de Paris, 2010. http://pastel.archives-ouvertes.fr/pastel-00563998.
Texto completo da fonteLaruelle, Hervé. "Planification temporelle et exécution de tâches en robotique". Toulouse 3, 1994. http://www.theses.fr/1994TOU30048.
Texto completo da fonteKoessler, Adrien. "Contribution à l'agrandissement de l'espace de travail opérationnel des robots parallèles. Vérification du changement de mode d'assemblage et commande pour la traversée des singularités". Thesis, Université Clermont Auvergne (2017-2020), 2018. http://www.theses.fr/2018CLFAC075/document.
Texto completo da fonteCompared to their serial counterparts, parallel robots have the edge in terms of rigidity,cycle time and positioning precision. However, the reduced size of their operationalworkspace is a drawback that limits their use in the industry. Kinematic analysis explainshow the workspace is divided in aspects, separated from each others by so-called Type 2singularities. Among existing solutions for workspace enlargement, which are evaluatedin this thesis, we chose to work on a method based on singularity crossing. This can beachieved thanks to dedicated trajectory generators and control strategies. Yet, failuresin crossing can still happen and crossing success cannot be certified.In consequence, the first part of the thesis consists in the development of an algorithmable to state on the results of a crossing attempt. Such a tool does not exist inthe literature, since solvers for the forward kinematics of parallel robots diverge aroundsingularities. Nonetheless, interval methods allow to bypass this problem by trackingend-effector velocity alongside with its pose. The ability of the algorithm to detect assemblymode change is proven in simulation, and its usefulness for reliable trajectoryplanning is shown.In a second part, we seek to improve trajectory tracking through the use of advancedcontrol techniques. A review on those techniques showed adaptive control and predictivecontrol methods to be well-fitted to our application. Linear synthesis of articularadaptive control is proposed and then derived in order to predict dynamic parametersthanks to the Predictive Functional Control method. Efficiency of the proposed controllaws is evaluated in simulation.1In order to validate both contributions, algorithms and control laws are implementedon a 2-degree of freedom planar parallel robot named DexTAR. As it is mandatory forassembly mode detection, the kinematic calibration of the robot is completed from whichcertified geometric parameters are derived. Assembly mode detection is performed onreal trajectories and results are compared to those obtained in simulation. Moreover,adaptive and predictive control laws are tested in realistic cases of singularity crossingand object manipulation.Overall, proposed contributions answer the problems that were stated previously andform an improvement to the workspace enlargement method based on Type 2 singularitycrossing
Ayari, Oussama. "Caractérisation des usinages robotisés : Application aux processus de transformation du matériau bois". Electronic Thesis or Diss., Université de Lorraine, 2020. http://www.theses.fr/2020LORR0080.
Texto completo da fonteNowadays, the robotization of wood machining remains a complicated and uncommon task. This is also due to the significant constraints to which the use of an industrial robot (also known as anthropomorphic or polyarticulated) is subject. These particularly concern operations that require a high degree of precision and agility. Indeed, the forces exerted on the robot's articulations and on the tooling come up against the insufficient natural rigidity of polyarticulated robots. This causes the machine to lose its performance in terms of output and efficiency and degrades the quality of machining. In addition, the variable properties of the wood material do not make the polyarticulated robot the ideal candidate for material removal machining processes. In order to answer this problem, we seek, through this thesis, to improve the machining of robotized wood by taking into account the major technological difficulties: natural rigidity, dimensional quality of machining and cutting forces and interaction between them. Thus the difficulties related to the wood anatomy: Heterogeneity, anisotropy, fibrous texture and singularities. To solve this problem we used a numerically controlled (CNC) machine tool and an anthropomorphic ®Kuka robot equipped with a high-speed machining engine. We instrumented our experimental bench with a force measuring chain and a digital measuring table to quantify the dimensional errors of the machined profiles. Three wood materials are machined: Hardwood (Beech), softwood (Fir) and derived timber (MDF). The results obtained show that there is a direct proportional relationship between cutting forces and degradation of dimensional quality, regardless of the machine used. The higher the forces applied to remove the material, the more the tracking performance of the end effector decreases. In terms of system stability, measurements have shown that the farther the tool works from the robot base, the more the cutting forces fluctuate and the more the dimensional quality deteriorates. This becomes more pronounced when material heterogeneity and density are high. As a result, the robot is less stable and its performance in terms of repeatability in series production degrades. Fluctuations in stress and degradation of dimensional quality are intensified by changing the cutting mode. Cutting forces increase by a factor of 8 when the tool works perpendicular to the wood grain.The case of material-related peculiarities is discussed. Indeed, measurements show a rapid and sudden jump in forces which multiplies by 3 when the cutting edge passes through a knot. This leads to splinters and cracks in the material and degrades the orthogonality of the cut. The variation of the robot feed rates from 4m/min to 9m/min in beech machining resulted in damage to the machined surface in the form of material ripples and splinters due to deviations in the tool path. The same experiments on the variation of the robot feed rates are carried out on other species such as larch (softwood) and oak (hardwood) to study the machining quality. The results found are similar to those obtained previously (material splinters, tool path deviations and cracks)
Mahout, Vincent. "Récurrences et fonctionnements complexes en robotique dans le contexte de tâches répétitives. Application à une structure SCARA". Toulouse, INSA, 1994. http://www.theses.fr/1994ISAT0037.
Texto completo da fonteMoulieres-Seban, Theo. "Conception de systèmes cobotiques industriels : approche cognitique : application à la production pyrotechnique au sein d'Ariane Group". Thesis, Bordeaux, 2017. http://www.theses.fr/2017BORD0774/document.
Texto completo da fonteNowadays, robots are increasingly used in industrial processes. However, there is an upper bound on the tasks' complexity that industrial robots can execute. Some of these hard tasks can only be completed with a high adaptation capacity: the plasticity of human cognition. Research in Human Robot Collaboration targets the Industry 4.0 where robots will help and augment humans to achieve increasingly complex tasks.In this research, we introduce the concept of “cobotic system”. Such a system considers humans and robots - with possibly different roles - as interacting elements sharing a common purpose of solving a task. Clearly, creation of cobotic systems has to take into account emerging technologies, but it also has to include humans through activity analysis, knowledge formalization, and participative simulations. To do so, under the leadership of Safran Group, this cognitive engineering thesis has been completed as a team with the roboticist David Bitonneau.Together, we proposed the “cobotic system engineering”: a cross-disciplinary approach of cobotic system design. This methodological approach was motivated by an industrial need from Airbus Group: the difficulty of tank cleaning. We tackled this project from needs analysis to the creation of a prototype evaluated by actual operators. Additionally, the industrialization of our work is in progress.We argue that thanks to their flexibility, their connectivity to modern workshops' technological ecosystem and their ability to take humans into account, cobotic systems will be one of the key parts composing the Industry 4.0
Sylla, Nahéma. "Contribution à l'assistance robotisée du geste au travail : modélisation, analyse et assistance du geste". Thesis, Montpellier 2, 2014. http://www.theses.fr/2014MON20135/document.
Texto completo da fonteThe emergence of Musculo-Squelettal Disorders (MSD) in the industry is a real blight, having major socioeconomic consequences in France. In order to reduce work painfulness and MSD risks, some industries are committing to modifying workstations by assisting operators with robotic devices. Following this MSD prevention policy, PSA Peugeot Citroen aims to use cobots or exoskeletons as assistive devices to improve workers conditions. However, implementing this type of robot in factories requires quantifying their ergonomic benefit. In this context, the objective of this thesis is to develop a method to assess collaborative robot that are intended to be used in PSA Peugeot Citroen factories. In this framework, the right mono-arm ABLE exoskeleton, designed by the CEA-LIST has been used. With a biomechanical analysis of an industrial manipulation task, we have been able to assess the benefit of the exoskeleton in terms of physical load reduction. We also proposed in this work to assess neuromuscular mechanisms underlying the industrial task performed in interaction with the exoskeleton. On the basis of the human motor control theory and using an inverse optimisation method, objectives functions such as jerk, joint torque or energy that characterize the human manipulation task in terms of efforts, kinematics and execution time, have been identified. This improved understanding of human upper limb movements then allowed reviewing the exoskeleton design in order to propose an optimal command strategy adapted to the execution of industrial tasks
Ma, Yingchong. "Planification de trajectoire et commande pour les robots mobiles non-holonomes". Phd thesis, Ecole Centrale de Lille, 2013. http://tel.archives-ouvertes.fr/tel-00979604.
Texto completo da fonteTouzani, Hicham. "Planification Multi-Robot du Problème de Répartition de Tâches avec Évitement Automatique de Collisions et Optimisation du Temps de Cycle : Application à la Chaîne de Production Automobile". Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPAST079.
Texto completo da fonteIn the automotive industry, several robots are required to simultaneously carry out welding sequences on the same vehicle. Assigning and coordinating welding tasks between robots is a manual and challenging phase that must be optimized using automatic tools. The cycle time of the cell strongly depends on different robotic factors such as the task allocation among the robots, the configuration solutions, and obstacle avoidance. Moreover, a key aspect, often neglected in the state-ofthe- art, is to define a strategy to solve the robotic task sequencing with an effective robot-robot collision avoidance integration. This thesis is motivated by solving this industrial problem and seeks to raise different research challenges. It begins by presenting the current state-of-the-art solutions regarding robotic planning. An in-depth investigation is carried out on the related existing academic/industrial solutions to solve the robotic task sequencing problem, particularly for multi-robot systems. This investigation helps identify the challenges when integrating several robotic factors into the optimization process. An efficient iterative algorithm that generates a high-quality solution for the Multi-Robotic Task Sequencing Problem is presented. This algorithm manages not only the mentioned robotic factors but also aspects related to accessibility constraints and mutual collision avoidance. In addition, a home-developed planner (RoboTSPlanner) handling six-axis robots has been validated in a real case scenario. In order to ensure the completeness of the proposed methodology, we perform optimization in the task, configuration, and coordination space in a synergistic way. Compared to the existing approaches, both simulation and real experiments reveal positive results in terms of cycle time and show the ability of this method to be interfaced with both industrial simulation software and ROS-I tools
Guerra, Matteo. "Le déploiement et l'évitement d'obstacles en temps fini pour robots mobiles à roues". Thesis, Ecole centrale de Lille, 2015. http://www.theses.fr/2015ECLI0024/document.
Texto completo da fonteThis dissertation work addresses the obstacle avoidance for wheeled mobile robots. The supervisory control framework coupled with the output regulation technique allowed to solve the obstacle avoidance problem and to formally prove the existence of an effective solution: two outputs for two objectives, reaching the goal and avoiding the obstacles. To have fast, reliable and robust results the designed control laws are finite-time, a particular class very appropriate to the purpose. The novelty of the approach lies in the easiness of the geometric approach to avoid the obstacle and on the formal proof provided under some assumptions. The solution have been thus extended to control a leader follower formation which, sustained from the previous result, uses two outputs but three controls to nail the problem. The Leader role is redesigned to be the reference of the group and not just the most advanced agent, moreover it has a active role slowing down the formation in case of collision avoidance manoeuvre for some robots. The proposed method, formally proven, makes the group move together and allow each agent to avoid obstacles or collision in a decentralized way. In addition, a further contribution of this dissertation, it is represented by a modification of the well known potential field method to avoid one of the common drawback of the method: the appearance of local minima. Control theory tools helps again to propose a solution that can be formally proven: the application of the definition of Input-to-State Stability (ISS) for decomposable sets allows to treat separate obstacles adding a perturbation which is able to move the trajectory away from a critic point
Briot, Sébastien. "Analyse et Optimisation d'une Nouvelle Famille de Manipulateurs Parallèles aux Mouvements Découplés". Phd thesis, INSA de Rennes, 2007. http://tel.archives-ouvertes.fr/tel-00327414.
Texto completo da fonteproposées.
Savin, Jonathan. "Simulation de la variabilité du mouvement induite par la fatigue musculaire pour la conception ergonomique de postes de travail". Thesis, Sorbonne université, 2019. http://www.theses.fr/2019SORUS349.
Texto completo da fonteEvery human movement presents an inter- and intra-individual variability. This variability of movement (MV) affects trajectories, coordinations, motor forces as well as muscular activations. However, to date, MV is almost ignored in the workstations design and there is no means to simulate it. The objective of this work was therefore to develop a virtual human (VH) to simulate the effects of one source of VM (muscle fatigue) on a reference task (a repetitive pointing task). A VH controller has been developed. Based on Xia and Frey-Law muscle fatigue model by, it implements controls designed to simulate some effects of muscle fatigue (exertion limitation, transfer of motor activity, reduction of trajectory tracking performance). The actuation of the VH is calculated by quadratic optimization using a dynamic simulation physics engine. Movement data was analyzed to identify fatigue-induced MV during the pointing activity, and to validate the proposed VH controls. An laboratory experiment has been carried out. Principal component analysis (PCA) of kinematic data identified the degrees of freedom involved in the VM and detected transitions of movement patterns with fatigue. This VH demonstrator simulates some characteristics of the MV observed. Improvements of the HV are proposed, however it can already be used to make designers more aware of effects of the VM in occupational risks prevention from the first steps of workstations design
Landon, Yann. "Contribution à l'amélioration de la qualité d'usinage en fraisage 3 axes sur machines-outils à commande numérique par la mise en place d'un compagnon virtuel". Toulouse 3, 2003. http://www.theses.fr/2003TOU30150.
Texto completo da fonteKalawoun, Rawan. "Motion planning of multi-robot system for airplane stripping". Thesis, Université Clermont Auvergne (2017-2020), 2019. http://www.theses.fr/2019CLFAC008/document.
Texto completo da fonteThis PHD is a part of a French project named AEROSTRIP, (a partnership between Pascal Institute,Sigma, SAPPI, and Air-France industries), it is funded by the French Government through the FUIProgram (20th call). The AEROSTRIP project aims at developing the first automated system thatecologically cleans the airplanes surfaces using a process of soft projection of ecological media onthe surface (corn). My PHD aims at optimizing the trajectory of the whole robotic systems in orderto optimally strip the airplane. Since a large surface can not be totally covered by a single robot base placement, repositioning of the robots is necessary to ensure a complete stripping of the surface. The goal in this work is to find the optimal number of robots with their optimal positions required to totally strip the air-plane. Once found, we search for the trajectories of the robots of the multi-robot system between those poses. Hence, we define a general framework to solve this problem having four main steps: the pre-processing step, the optimization algorithm step, the generation of the end-effector trajectories step and the robot scheduling, assignment and control step.In my thesis, I present two contributions in two different steps of the general framework: the pre-processing step, the optimization algorithm step. The computation of the robot workspace is required in the pre-processing step: we proposed Interval Analysis to find this workspace since it guarantees finding solutions in a reasonable computation time. Though, our first contribution is a new inclusion function that reduces the pessimism, the overestimation of the solution, which is the main disadvantage of Interval Analysis. The proposed inclusion function is assessed on some Constraints Satisfaction Problems and Constraints Optimization problems. Furthermore, we propose an hybrid optimization algorithm in order to find the optimal number of robots with their optimal poses: it is our second contribution in the optimization algorithm step. To assess our hybrid optimization algorithm, we test the algorithm on regular surfaces, such as a cylinder and a hemisphere, and on a complex surface: a car
Hage, Hiba. "Identification et simulation physique d'un robot Stäubli TX90 pour le fraisage à grande vitesse". Phd thesis, Université Pierre et Marie Curie - Paris VI, 2012. http://tel.archives-ouvertes.fr/tel-00831071.
Texto completo da fonteBelchior, Jérémy. "Développement d’une approche couplée matériau / structure machine : application au formage incrémental robotisé". Thesis, Rennes, INSA, 2013. http://www.theses.fr/2013ISAR0033/document.
Texto completo da fonteThe incremental forming is an innovative process which consists in forming a sheet by the progressive movements of a punch. A solution to improve the productivity of the process and the complexity of the parts shapes is to use robots (serial or parallel). The scientific aim of this work is to define a global approach of the problem by studying the mesoscopic scale of the process and the macroscopic scale of the machine. In this context, a process/machine coupling approach which combines a Finite Element Analysis (FEA) of the process and an elastic modeling of the robot structure is presented.First, the punch forces necessary to form the part are computed assuming a machine structure perfectly stiff. To minimize the error between the predicted forming forces and the measured ones, the weight of three numerical and material parameters of the FEA is investigated. This study shows that an appropriate choice of parameters avoids the force measurement step, unlike the available approaches in the literature.Then, the predicted forces are defined as input data of the elastic model of the robot structure to compute the Tool Center Point (TCP) pose errors. To consider the behavior of the elastic structure, the modeling of robotized structures by beam elements is chosen and applied to an industrial robot Fanuc S420if. The identified elastic model permits to predict the TCP displacements induced by the elastic behavior of the robot structure over the workspace whatever the load applied on the tool. The prediction maximum error of ±0.35 mm remains compatible with the process requirements.To validate the approach, two parts are formed by the robot: a truncated cone and a twisted pyramid. The geometry of these two parts confirms the hypothesis of the simulation and the global approach. These two tests give very interesting results since an improvement of 80 % of the TCP poseaccuracy is identified.Finally, an optimization loop based on a parametric trajectory and on a FEA anticipates the springback effects before the unclamping of the sheet, and then minimizes the error between the nominal shape and the formed one. The application of the process/machine coupling approach for this trajectory leads to a geometric accuracy of the part before unclamping of ± 0.15 mm. These results open interesting perspectives for the methodology application
Wenger, Philippe. "Aptitude d'un robot a parcourir son espace de travail en presence d'obstacles". Nantes, 1989. http://www.theses.fr/1989NANT2036.
Texto completo da fonteMartin, Carole. "Conception, modélisation et planification de mouvements d'un robot de résection pour la neurochirurgie". Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2010. http://tel.archives-ouvertes.fr/tel-00625531.
Texto completo da fonteFraichard, Thierry. "Planification de mouvement pour mobile non-holonome en espace de travail dynamique". Phd thesis, Grenoble INPG, 1992. http://tel.archives-ouvertes.fr/tel-00341388.
Texto completo da fonteBecquet, Marc. "Il est possible de déterminer les limites de l'espace de travail d'un robot par l'analyse des singularités de sa matrice jacobienne [Thèse annexe]". Doctoral thesis, Universite Libre de Bruxelles, 1987. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/213429.
Texto completo da fonteBordon, Federica <1995>. "Digital Innovation in the Tourism Industry. How Robotics affects Travel, Tourism and Hospitality". Master's Degree Thesis, Università Ca' Foscari Venezia, 2021. http://hdl.handle.net/10579/18999.
Texto completo da fonteLe, Bars Hervé. "Assistance à la supervision en télérobotique : Caractérisation et développement d'une maquette". Valenciennes, 1995. https://ged.uphf.fr/nuxeo/site/esupversions/e6648f87-1b22-4e63-ae41-37255cf5d092.
Texto completo da fonteHernandez, Lopezomoza Mario Andres. "Cadre de travail généralisé de compensation non-linéaire robuste : application à la rentrée atmosphérique". Thesis, Toulouse, ISAE, 2012. http://www.theses.fr/2012ESAE0022/document.
Texto completo da fonteThis thesis work is devoted to extending Nonlinear Dynamic Inversion (NDI) for a large scale of nonlinear systems while guaranteeing sufficient stability conditions. NDI has been studied in a wide range of applications, including aeronautics and aerospace. It allows to compute nonlinear control laws able to decouple and linearize a model at any operating point of its state envelope. However, this method is inherently non-robust to modelling errors and input saturations. Moreover, obtaining a quantifiable guarantee of the attained stability domain in a nonlinear control context is not a very straightforward task. Unlike standard NDI approaches, our methodology can be viewed as a generalized nonlinear compensation framework which allows to incorporate uncertainties and input saturations in the design process. Paralleling anti-windup strategies, the controller can be computed through a single multichannel optimization problem or through a simple two-step process. Within this framework, linear fractional transformations of the nonlinear closed-loop can be easily derived for robust stability analysis using standard tools for linear systems. The proposed method is tested for the flight control of a delta wing type reentry vehicle at hypersonic, transonic and subsonic phases of the atmospheric reentry. For this thesis work, a Flight Mechanics simulator including diverse external factors and modelling errors was developed in Simulink
Abdelaziz, Salih. "Développement d'un système robotique pour la radiologie interventionnelle sous IRM". Phd thesis, Université de Strasbourg, 2012. http://tel.archives-ouvertes.fr/tel-00801844.
Texto completo da fonteBontrager, Nicholas A. "The Conflation of Image Making and Image Fixation in Six Acts". The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1307722193.
Texto completo da fonteXu, Song. "Impact du délai de transmission des informations en téléchirurgie & formation en chirurgie robotique : travaux réalisés sur les simulateurs robotiques en réalité virtuelle". Thesis, Université de Lorraine, 2015. http://www.theses.fr/2015LORR0098/document.
Texto completo da fonteThe objectives of our work were, on the one hand, to determine the impact of data-transmission latency in robotic telesurgey, and on the other hand, to validate the role of robotic simulator in robotic surgery training. Two studies were realized in the part concerning latency. It was proved that surgical performance deteriorates exponentially as latency increases. It is preferable to perform telesurgey with a delay less than 200 ms. The delay higher than 800 ms is not suitable for telesurgery. On the other hand, surgeons had demonstrated the capacity to adapt to delay through training. In the second part, we developed a curriculum on a robotic simulator for a urologic surgical procedure. Another study was realized to determine the validity of a new robotic simulator (the XTT) as an evaluation tool of robotic surgical assistance skills
Wu, Hongjian. "Process Modeling and Planning for Robotic Cold Spray Based Additive Manufacturing". Thesis, Bourgogne Franche-Comté, 2020. http://www.theses.fr/2020UBFCA026.
Texto completo da fonteCold spray (CS) is a solid-state coating deposition technology that has recently been applied as an additive manufacturing (AM) process to fabricate individual components. This potential AM process is attracting more and more attention because of its advantages: high-forming efficiency, low temperature, and no phase changing of materials. These advantages make CS able to form large-volume objects to become an efficient and effective AM process. Nowadays, new advances in cold spray additive manufacturing (CSAM) call for new process implementation to improve the manufacturing accuracy and flexibility. Therefore, the purpose of this study is to enhance CS-based AM through the modeling and planning of the robotic CS process. The work of this thesis consists of three parts.Firstly, efforts have been dedicated to design and implement a new framework for CSAM. In this part, a concept of modular system is presented. Here, the current CSAM system is decomposed into different modules in order to understand the physical and functional relationships between the key elements of the entire system. This physical and functional modularity is an indispensable necessity to promote hybrid AM processes. New modules, such as in-situ measurement module, inter-process module can be integrated into the framework to bring more possibilities to the conventional CS process. It is revealed that system modularity is suitable to revolutionize the CSAM method and conduction. It can be seen that to fully exert the potential of CSAM, efforts are still required to integrate and coordinate more technologies with the help of the proposed modular framework.Secondly, a novel approach is presented to simulate the CS deposition. Here, a three-dimensional geometric model of the coating profile based on Gaussian distribution is developed. The model is combined with robot trajectory and processing parameters to simulate the evolving CS deposits. In addition, it can offer accurate profile prediction in the robot off-line programming platform, especially in case of shadow effects, which enables the integration of robot programming with simulation to better control the coating process. The results of both numerical and experimental verifications show that this proposed method has a good prediction accuracy for practice.At last, compared with the current bulk-based volume-forming strategy (e.g. a tessellation-based method), this study proposes a new spray strategy that considers the characteristics and kinematic parameters of cold spray to enhance stable layer building for 3D shape forming. Both simulation and experiments are conducted for method verification. Layer built benchmarking test objects have better shape accuracy than that of existing methods. This implies that the proposed method makes CS a real and layer-by-layer ready AM process for 3D shape forming
Roberts-Lombard, Mornay. "Verhoudingsbemarking by reisagentskappe in die Wes-Kaap Provinsie / Mornay Roberts-Lombard". Thesis, North-West University, 2006. http://hdl.handle.net/10394/1731.
Texto completo da fonteNguyen, Von Dim. "Validation and robust optimization of deep drawing process by simulation in the presence of uncertainty". Thesis, Troyes, 2015. http://www.theses.fr/2015TROY0006/document.
Texto completo da fonteThe ultimate objective of this thesis is to evaluate the possibility to validate and optimize a manufacturing process using numerical simulation and taking into account the irreducible uncertainties in the process, materials and geometry of manufactured product. Taking into account the uncertainties requires quantifying the effects of variations of model parameters on the outputs, by propagating these variations via computer simulation to assess their effects on the outputs. In this work, we have proposed a procedure to determine the sensitivity threshold of the numerical model to build numerical Design of Experiments consistent with this threshold. We have also shown that, given the uncertainties in the materials and the geometry of the product, it is possible to optimize certain process parameters to control the effects of uncertainties on the dimensional and morphological variations of the product. For this, we have proposed an optimization procedure based on NSGA-II algorithm and a meta-modeling of the process. The application for deep drawing of a U-shaped sheet metal part, springback included shows that it is a robust design problem for which we get all the compromise between the deviation from the mean and standard deviation of a "performance" depending on the process correctly chosen. Finally, the analysis of these results allows us to quantify the relationship between the notion of robustness of an optimized solution of the process and criteria for measuring the quality of the product
HAJHOUJ, MOUAMD. "Programmation hors ligne : emulation des composants d'une cellule robotisee". Paris, ENSAM, 1988. http://www.theses.fr/1988ENAM0005.
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