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Détail de l'indexation
M001806
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Ouvrages de la bibliothèque en indexation M001806
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Commande adaptative floue de la position et de l'orientation des robots manipulateurs / Oulmas, Youssef
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Titre : Commande adaptative floue de la position et de l'orientation des robots manipulateurs Type de document : texte imprimé Auteurs : Oulmas, Youssef, Auteur ; Chekireb, Hachemi, Directeur de thèse Editeur : [S.l.] : [s.n.] Année de publication : 2006 Importance : 124 f. Présentation : ill. Format : 30 cm. Accompagnement : CD Note générale : Mémoire de Magister : Automatique : Alger, Ecole Nationale Polytechnique : 2006
Bibliogr. f. 106 - 109. Annexes f. 110 - 124Langues : Français (fre) Mots-clés : Commande des robots
Systèmes flous
Commande floue
Commande adaptative
Commande en position/orientation des robotsIndex. décimale : M001806 Résumé : Dans l'industrie moderne, les robots manipulateurs occupent une place primordiale.
Ces derniers sont souvent appelés à effectuer certaines tâches, telle que la soudure, la peinture...etc, qui nécessitent l'évolution dans le temps et dans l'espace de la position/orientation de l'effecteur.
Ces tâches sont difficiles à réaliser surtout pour les robots ayant plus de trois degré de liberté.
En effet, la dynamique des robots est complexe et fortement couplée de plus, le plus souvent elle est entachée d'incertitudes paramétriques.
L'objectif de ce travail porte sur la commande adaptative floue de la position/orientation des robots manipulateurs.
Tout d'abord ont été évoquées les limites des techniques non floues de commande adaptative classique qui sont appliquées à la commande des robots.
Puis, a été exposé un bref aperçu sur les systèmes flous.
Ces derniers sont utilisés, en premier lieu pour estimer la dynamique inconnue du robot manipulateur afin de développer la commande adaptative floue centralisée et décentralisée indirecte, et en second lieu pour approximer directement les lois de commande adaptative floue centralisée et décentralisée.
Ces lois de commande ont été appliquées par simulation au cas du robot PUMA 560 exécutant une tâche de soudage.Commande adaptative floue de la position et de l'orientation des robots manipulateurs [texte imprimé] / Oulmas, Youssef, Auteur ; Chekireb, Hachemi, Directeur de thèse . - [S.l.] : [s.n.], 2006 . - 124 f. : ill. ; 30 cm. + CD.
Mémoire de Magister : Automatique : Alger, Ecole Nationale Polytechnique : 2006
Bibliogr. f. 106 - 109. Annexes f. 110 - 124
Langues : Français (fre)
Mots-clés : Commande des robots
Systèmes flous
Commande floue
Commande adaptative
Commande en position/orientation des robotsIndex. décimale : M001806 Résumé : Dans l'industrie moderne, les robots manipulateurs occupent une place primordiale.
Ces derniers sont souvent appelés à effectuer certaines tâches, telle que la soudure, la peinture...etc, qui nécessitent l'évolution dans le temps et dans l'espace de la position/orientation de l'effecteur.
Ces tâches sont difficiles à réaliser surtout pour les robots ayant plus de trois degré de liberté.
En effet, la dynamique des robots est complexe et fortement couplée de plus, le plus souvent elle est entachée d'incertitudes paramétriques.
L'objectif de ce travail porte sur la commande adaptative floue de la position/orientation des robots manipulateurs.
Tout d'abord ont été évoquées les limites des techniques non floues de commande adaptative classique qui sont appliquées à la commande des robots.
Puis, a été exposé un bref aperçu sur les systèmes flous.
Ces derniers sont utilisés, en premier lieu pour estimer la dynamique inconnue du robot manipulateur afin de développer la commande adaptative floue centralisée et décentralisée indirecte, et en second lieu pour approximer directement les lois de commande adaptative floue centralisée et décentralisée.
Ces lois de commande ont été appliquées par simulation au cas du robot PUMA 560 exécutant une tâche de soudage.Exemplaires
Code-barres Cote Support Localisation Section Disponibilité Spécialité Etat_Exemplaire M001806A M001806 Papier Bibliothèque centrale Mémoire de Magister Disponible Documents numériques
OULMAS.Youssef.pdfURL