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Méthodologies pour la commande de manipulateurs mobiles non-holonomes

Matthieu Fruchard 1
1 ICARE - Instrumentation, control and architecture of advanced robots
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This PhD thesis concerns the control of hybrid holonomic/ nonholonomic mobile manipulators, i.e. robots composed of a manipulator arm mounted on a mobile platform. This work is devoted to the determination of a general framework for the feedback control of such systems. These control methodologies are based on the fact that a general strategy of motion coordination between the manipulator and the mobile platform requires to monitor the situation (position and orientation) of the platform. An original feature of the two approaches we propose is to allow a coordinated control of a priority manipulation task with a secondary locomotion task, obtained via the practical stabilization of the complete platform's situation along any reference trajectory.

These two general methodologies rely on the fusion of two control tools: the task function approach, devoted to the control of manipulator arms, and the transverse functions approach, devoted to the control of nonholonomic platforms. Various application cases dealing with target tracking validate the flexibility and the polyvalence of these control approaches, through the choice of several strategies of cooperation between manipulation and locomotion subsystems.
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Submitted on : Friday, September 30, 2005 - 3:34:32 PM
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Matthieu Fruchard. Méthodologies pour la commande de manipulateurs mobiles non-holonomes. Automatique / Robotique. École Nationale Supérieure des Mines de Paris, 2005. Français. ⟨tel-00010344⟩

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