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Titre : Contribution a la modelisation dynamique d’un robot flexible bionique Type de document : texte imprimé Auteurs : Ammar Amouri, Auteur ; Abdelouahab Zaatri, Directeur de thèse ; Chawki Mahfoudi, Directeur de thèse Editeur : جامعة الإخوة منتوري قسنطينة Année de publication : 2017 Importance : 132 f. Format : 30 cm. Note générale : 2 copies imprimées disponibles

Langues : Français ( fre)Catégories : Français - Anglais

Génie MécaniqueTags : Multi-section flexible robots design geometric modeling methaheuristic methods dynamic

modeling control Robots flexibles multi-sections conception modélisation géométrique méthodes méthaheuristiques modélisation dynamique commande ????? ??? ????? ??????? ??????? ??????? ???????? ??? ????????? ??????? ??????????? ??????Index. décimale : 620 Génie Mécanique Résumé : This thesis deals with the design, geometric, kinematic and dynamic modeling of bionic

flexible robots. In particular, we are mainly interested in cable-driven flexible robots and a

bionic robot named ‘‘Compact Bionic Handling Assistant (CBHA)’’.

Initially, we have proposed two kind of design of flexible robots, including a planar robot

and a space robot, both powered by cables. Based on this study, we have undertaken the

construction of a prototype with a single flexible section. This design and realization have

also been used to estimate the inertial parameters that will be used in the dynamic models of

these prototypes. First, we have developed the mathematical formulations describing the

structure of the flexible robots which represents a general case of multi-section flexible

robots. Next, we have developed an approach for solving the problem of inverse geometric

modeling of multi-section flexible robots, assuming that each flexible section bends as a

circular arc while keeping the principal axis of the structure inextensible. The problem was

formulated mathematically in terms of optimization of a quadratic cost function under some

constraints of equality (lengths conservation). The problem has been solved by developing an

optimization algorithm including metaheuristic methods, namely the Particle Swarm

Optimization (PSO) and the Genetic Algorithm (GA). This approach was validated by

simulation and two experimental test benches performed on the CBHA robot. Then, we have

also proposed dynamic models, direct and inverse, for the two cable-driven flexible robots,

planar and spatial, using the Lagrange method. In order to simplify the calculations and avoid

some numerical singularities, the dynamic models were approximated by expansion of

Taylor's series. These models have been validated by simulations under the MATLAB

environment. In addition, the inverse dynamic model was validated by real measurements

obtained from the robot UR5. Finally, a proportional-integral-derivative controller (PID) has

been proposed to track trajectories using the point-to-point method.Diplôme : Doctorat en sciences En ligne : ../theses/gmecanique/AMO7101.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=10500 Contribution a la modelisation dynamique d’un robot flexible bionique [texte imprimé] / Ammar Amouri, Auteur ; Abdelouahab Zaatri, Directeur de thèse ; Chawki Mahfoudi, Directeur de thèse . - [S.l.] : جامعة الإخوة منتوري قسنطينة, 2017 . - 132 f. ; 30 cm.

2 copies imprimées disponibles

Langues : Français (fre)

Catégories : Français - Anglais

Génie MécaniqueTags : Multi-section flexible robots design geometric modeling methaheuristic methods dynamic

modeling control Robots flexibles multi-sections conception modélisation géométrique méthodes méthaheuristiques modélisation dynamique commande ????? ??? ????? ??????? ??????? ??????? ???????? ??? ????????? ??????? ??????????? ??????Index. décimale : 620 Génie Mécanique Résumé : This thesis deals with the design, geometric, kinematic and dynamic modeling of bionic

flexible robots. In particular, we are mainly interested in cable-driven flexible robots and a

bionic robot named ‘‘Compact Bionic Handling Assistant (CBHA)’’.

Initially, we have proposed two kind of design of flexible robots, including a planar robot

and a space robot, both powered by cables. Based on this study, we have undertaken the

construction of a prototype with a single flexible section. This design and realization have

also been used to estimate the inertial parameters that will be used in the dynamic models of

these prototypes. First, we have developed the mathematical formulations describing the

structure of the flexible robots which represents a general case of multi-section flexible

robots. Next, we have developed an approach for solving the problem of inverse geometric

modeling of multi-section flexible robots, assuming that each flexible section bends as a

circular arc while keeping the principal axis of the structure inextensible. The problem was

formulated mathematically in terms of optimization of a quadratic cost function under some

constraints of equality (lengths conservation). The problem has been solved by developing an

optimization algorithm including metaheuristic methods, namely the Particle Swarm

Optimization (PSO) and the Genetic Algorithm (GA). This approach was validated by

simulation and two experimental test benches performed on the CBHA robot. Then, we have

also proposed dynamic models, direct and inverse, for the two cable-driven flexible robots,

planar and spatial, using the Lagrange method. In order to simplify the calculations and avoid

some numerical singularities, the dynamic models were approximated by expansion of

Taylor's series. These models have been validated by simulations under the MATLAB

environment. In addition, the inverse dynamic model was validated by real measurements

obtained from the robot UR5. Finally, a proportional-integral-derivative controller (PID) has

been proposed to track trajectories using the point-to-point method.Diplôme : Doctorat en sciences En ligne : ../theses/gmecanique/AMO7101.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=10500 ## Exemplaires (1)

Code-barres Cote Support Localisation Section Disponibilité AMO/7101 AMO/7101 Thèse Bibliothèque principale Thèses Disponible