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Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems; Contribution a la commande automatique en robotique. Application a la commande par microprocesseurs des manipulateurs articules

Thesis/Dissertation:

Abstract

The first part of the present paper deals with the main methods of changing the coordinates for a general articulated system. After a definition of the coordinates changing, we propose a coordination system designed for easy programming of the movements. Its characteristic is to permit the action anywhere on the manipulated object. The second part deals with the force regulation problem. For this purpose we have developed a general force sensor. The informations delivered by the sensor are used by force regulators which are intended for the automatic assembly of subsystems. In the third part the dynamic problem of the articulated systems is exposed. We present a new method which allows to determine dynamic parameters from appropriate motions of the robot. These parameters are then used to implement the dynamic control. Several applications, using the powerful microprocessor INTEL 8086 and its arithmetic coprocessor 8087, are presented, in order to demonstrate the performances gained. (author) [French] Dans la premiere partie de ce memoire, nous exposons les principales methodes de changement de coordonnees pour un systeme articule general. Apres une definition adequate de ce dernier, nous proposons un systeme de coordination permettant une programmation facile des mouvements. Sa caracteristique est de prendre  More>>
Publication Date:
Jan 29, 1982
Product Type:
Thesis/Dissertation
Report Number:
CEA-R-5159
Resource Relation:
Other Information: 47 refs.; Available from the INIS Liaison Officer for France, see the 'INIS contacts' section of the INIS website for current contact and E-mail addresses: http://www.iaea.org/inis/Contacts/; These Docteur Es Sciences Physiques
Subject:
97 MATHEMATICAL METHODS AND COMPUTING; 42 ENGINEERING; ADAPTIVE SYSTEMS; AUTOMATION; COMPUTER CODES; CONTROL EQUIPMENT; COORDINATES; DYNAMICS; MACHINE TOOLS; MECHANICAL STRUCTURES; MECHANICAL TRANSMISSIONS; MOTION; PROGRAMMING; REAL TIME SYSTEMS; RESPONSE FUNCTIONS; ROBOTS
OSTI ID:
22263140
Research Organizations:
Universite de Paris Sud Centre d'Orsay (France); Centre d'Etudes Nucleaires de Saclay, Departement d'Electronique et d'Instrumentation Nucleaire, Service d'Instrumentation pour la Recherche, Service des Techniques d'Equipement de Protection et de Dosimetrie (France); Institut National des Sciences et Techniques Nucleaires (France)
Country of Origin:
France
Language:
French
Other Identifying Numbers:
TRN: FR1401880084367
Availability:
Available from INIS in electronic form
Submitting Site:
INIS
Size:
167 page(s)
Announcement Date:
Sep 16, 2014

Thesis/Dissertation:

Citation Formats

Al Mouhamed, Mayez. Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems; Contribution a la commande automatique en robotique. Application a la commande par microprocesseurs des manipulateurs articules. France: N. p., 1982. Web.
Al Mouhamed, Mayez. Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems; Contribution a la commande automatique en robotique. Application a la commande par microprocesseurs des manipulateurs articules. France.
Al Mouhamed, Mayez. 1982. "Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems; Contribution a la commande automatique en robotique. Application a la commande par microprocesseurs des manipulateurs articules." France.
@misc{etde_22263140,
title = {Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems; Contribution a la commande automatique en robotique. Application a la commande par microprocesseurs des manipulateurs articules}
author = {Al Mouhamed, Mayez}
abstractNote = {The first part of the present paper deals with the main methods of changing the coordinates for a general articulated system. After a definition of the coordinates changing, we propose a coordination system designed for easy programming of the movements. Its characteristic is to permit the action anywhere on the manipulated object. The second part deals with the force regulation problem. For this purpose we have developed a general force sensor. The informations delivered by the sensor are used by force regulators which are intended for the automatic assembly of subsystems. In the third part the dynamic problem of the articulated systems is exposed. We present a new method which allows to determine dynamic parameters from appropriate motions of the robot. These parameters are then used to implement the dynamic control. Several applications, using the powerful microprocessor INTEL 8086 and its arithmetic coprocessor 8087, are presented, in order to demonstrate the performances gained. (author) [French] Dans la premiere partie de ce memoire, nous exposons les principales methodes de changement de coordonnees pour un systeme articule general. Apres une definition adequate de ce dernier, nous proposons un systeme de coordination permettant une programmation facile des mouvements. Sa caracteristique est de prendre comme centre d'action un point quelconque de l'objet manipule. Dans la deuxieme partie, nous etudions la regulation en effort. Pour cela nous avons developpe un capteur de forces general. Les informations que delivre ce dernier sont utilisees par des regulateurs d'effort adaptes au contexte de l'assemblage automatique des pieces. Dans la troisieme partie, nous exposons une nouvelle methode de commande dynamique des systemes articules. Nous obtenons des parametres dynamiques du robot a partir de mouvements appropries. Ces derniers sont ensuite utilises dans l'elaboration des commandes. Des applications utilisant le microprocesseur INTEL 8086 avec son coprocesseur flottant 8087 sont presentees et montrent les performances obtenues. (auteur)}
place = {France}
year = {1982}
month = {Jan}
}