Gestion de robots mobiles et redondants et collaboratifs en environnement contraint et dynamique

Abstract : Industrial applications involving collaborative robots are regarded with a growing interest. These power-limited systems are embedded with additional sensing capabilities, which allow them to safely work around humans and conquer new industrial grounds. The subject of managing redundant, collaborative and mobile systems, for assembly operations within a human-populated aircraft production environment, is addressed in this thesis. From a process perspective, the use of these smaller and less stiff counterparts of the non-collaborative robots comes with new challenges. Their high mechanical flexibility and weak actuation can cause shortcomings in positioning accuracy or for interaction force sustainment. The ever-changing nature of human-populated environments also requires highly autonomous solutions. In this thesis, a formulation of positional redundancy is presented. It aims at simplifying the exploitation of the freedom redundant manipulators have on static-task-fulfilling postures. The associated formalism is then exploited to characterise and improve the deformational behaviour and the force capacity of redundant serial systems. Finally, the subject of planning motions within cluttered and dynamic environments is addressed. An adaptation of the well-known Probabilistic RoadMaps method is presented – to which obstacles trajectories anticipation has been included. This solution allows to plan safe, efficient and non-intrusive motions to a given destination.
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David Busson. Gestion de robots mobiles et redondants et collaboratifs en environnement contraint et dynamique. Automatique / Robotique. Ecole nationale supérieure d'arts et métiers - ENSAM, 2018. Français. ⟨NNT : 2018ENAM0041⟩. ⟨tel-02195000⟩

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