Compensation des perturbations appliquees a un manipulateur a l'aide d'une boucle de retroaction visuelle (French text).

摘要

The operation and control of a long reaching arm is a complex task namely because structural flexion induces an important error in position measurement. Systems like macro-micro manipulators are highly affected by external perturbations. With this system, a small micro-manipulator robot achieves a specific task while being itself carried by a second longer manipulator. The later, so-called macro-manipulator, has a greater working space. This robotic system allows at the same time a high degree of accuracy and a considerable range in the execution of automated work. However, since industrials robots are in general strongly coupled non-linear dynamic systems and since joints encoders do not detect structural flexion, substantial errors in position result. In light of this, a new scheme of compensation of the disturbances applied to a manipulator carrying out a target tracking is being developed.; Our principal scientific contribution is the compensation of external disturbances acting on a manipulator carrying out an automated job via visual feedback in the control loop. It is possible to foresee the application of this concept within several fields: maintenance and automated inspections, industrial production, operations in a hostile environment. (Abstract shortened by UMI.)