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Titre : Contribution a l’etude dynamique des robots paralleles hybrides Type de document : texte imprimé Auteurs : Abdelhakim Chibani, Auteur Editeur : جامعة الإخوة منتوري قسنطينة Année de publication : 2016 Importance : 151 f. Format : 30 cm. Note générale : 2 copies imprimées disponibles

Langues : Français ( fre)Catégories : Français - Anglais

Génie MécaniqueTags : Robot Parallèle Hybride Manipulateur Hyper-Redondant Optimisation Non Linéaire Modé-lisation Dynamique Commande Hybrid Parallel Robot Hyper-redundant Manipulator Non Linear Optimization Dynamic Modeling Control ????? ???? ????? ??????? ????? ??????? ??????????? ?????? Index. décimale : 620 Génie Mécanique Résumé : The work presented in this thesis concerns the dynamic modeling of hybrid parallel robots. This work helps

to solve one of the real problems of research on hybrid parallel robots that is to nd a compromise between a

high dynamic and a high redundancy. Through this, we present a general methodology for analysis and modeling of hybrid modular parallel robot manipulators following procedures and developed techniques for serial

robots, tree structured chain or closed loops chain. In geometric modeling, two approaches have been taken

to solve the inverse kinematics : the use of the generalized inverse Jacobian matrix of the manipulator, commonly called pseudo-inverse, and moreover, a non linear optimization problem not linear used. The proposed

model is original since it achieves a reasonable and satisfactory compromise between the data of the problem,

the mathematical model, the constraints imposed on the system, physical limitations and desired results. The

dynamics study is, rstly on dynamic modeling of parallel robots. For this we have used the Newton-Euler

algorithms for inverse and direct dynamic models.Secondly, from the models developed for the parallel robot,

we studied the dynamic modeling of hybrid parallel robots consisting of the concatenation of several parallel

modules. The algorithms developed are based on the use of recursive Newton-Euler formalism. The advantage

of this model is that it is generic enough to be applied to the modeling, simulation and control of several classes

of modular robots architecture. In addition to dynamic modeling, we studied the control aspect of hybrid parallel robots. The aim is to enable accurate prediction with the least possible calculations. Indeed, the inverse

dynamic model developed provides a simple and e ective tool for the development of an appropriate control

scheme. For this purpose, a control scheme by non-linear decoupling into the joint space was considered. In the

developed simulator, all joint variables reported by the optimization algorithm are used as guidelines to meet the

target of motion control. Algorithms have been developed and tested in simulation and the results are presented.

Diplôme : Doctorat en sciences En ligne : ../theses/gmecanique/CHI6971.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=10369 Contribution a l’etude dynamique des robots paralleles hybrides [texte imprimé] / Abdelhakim Chibani, Auteur . - [S.l.] : جامعة الإخوة منتوري قسنطينة, 2016 . - 151 f. ; 30 cm.

2 copies imprimées disponibles

Langues : Français (fre)

Catégories : Français - Anglais

Génie MécaniqueTags : Robot Parallèle Hybride Manipulateur Hyper-Redondant Optimisation Non Linéaire Modé-lisation Dynamique Commande Hybrid Parallel Robot Hyper-redundant Manipulator Non Linear Optimization Dynamic Modeling Control ????? ???? ????? ??????? ????? ??????? ??????????? ?????? Index. décimale : 620 Génie Mécanique Résumé : The work presented in this thesis concerns the dynamic modeling of hybrid parallel robots. This work helps

to solve one of the real problems of research on hybrid parallel robots that is to nd a compromise between a

high dynamic and a high redundancy. Through this, we present a general methodology for analysis and modeling of hybrid modular parallel robot manipulators following procedures and developed techniques for serial

robots, tree structured chain or closed loops chain. In geometric modeling, two approaches have been taken

to solve the inverse kinematics : the use of the generalized inverse Jacobian matrix of the manipulator, commonly called pseudo-inverse, and moreover, a non linear optimization problem not linear used. The proposed

model is original since it achieves a reasonable and satisfactory compromise between the data of the problem,

the mathematical model, the constraints imposed on the system, physical limitations and desired results. The

dynamics study is, rstly on dynamic modeling of parallel robots. For this we have used the Newton-Euler

algorithms for inverse and direct dynamic models.Secondly, from the models developed for the parallel robot,

we studied the dynamic modeling of hybrid parallel robots consisting of the concatenation of several parallel

modules. The algorithms developed are based on the use of recursive Newton-Euler formalism. The advantage

of this model is that it is generic enough to be applied to the modeling, simulation and control of several classes

of modular robots architecture. In addition to dynamic modeling, we studied the control aspect of hybrid parallel robots. The aim is to enable accurate prediction with the least possible calculations. Indeed, the inverse

dynamic model developed provides a simple and e ective tool for the development of an appropriate control

scheme. For this purpose, a control scheme by non-linear decoupling into the joint space was considered. In the

developed simulator, all joint variables reported by the optimization algorithm are used as guidelines to meet the

target of motion control. Algorithms have been developed and tested in simulation and the results are presented.

Diplôme : Doctorat en sciences En ligne : ../theses/gmecanique/CHI6971.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=10369 ## Exemplaires (1)

Code-barres Cote Support Localisation Section Disponibilité CHI/6971 CHI/6971 Thèse Bibliothèque principale Thèses Disponible