Les Inscriptions à la Bibliothèque sont ouvertes en
ligne via le site: https://biblio.enp.edu.dz
Les Réinscriptions se font à :
• La Bibliothèque Annexe pour les étudiants en
2ème Année CPST
• La Bibliothèque Centrale pour les étudiants en Spécialités
A partir de cette page vous pouvez :
Retourner au premier écran avec les recherches... |
Détail de l'indexation
M002206
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Ouvrages de la bibliothèque en indexation M002206
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Titre : Les techniques de commande sous contraintes d'un robot manipulateur redondant Type de document : texte imprimé Auteurs : Benzaoui, Messaouda, Auteur ; Chekireb, Hachemi, Directeur de thèse Editeur : [S.l.] : [s.n.] Année de publication : 2006 Importance : 122 f. Présentation : ill. Format : 30 cm. Accompagnement : 1 CD-ROM. Note générale : Mémoire de Magister : Automatique : Alger, Ecole Nationale Polytechnique : 2006
Annexes f. 103 - 117. Bibliogr. f. 119 - 122Langues : Français (fre) Mots-clés : Robot redondant
Résolution de la redondance
Limites articulaires
Limites sur les couples
Evitement des singularités
Evitement des obstacles
Conservation de la cyclicité du mouvementIndex. décimale : M002206 Résumé : Dans le cadre de ce travail sont appliquées les méthodes de commande sous contraintes des manipulateurs redondants dont le but d'amener le robot à exécuter la poursuite de la trajectoire (tâche principale) sous les contraintes dues à la présence d'autres tâches (taches secondaires).
Cette étude concerne un robot manipulateur planaire à un degré de redondance.
Nous avons développé pour ce robot des commandes permettant d'éviter les obstacles et les contraintes structurelles, spécialement les butées articulaires et les limites des couples.
De plus, ont été élaborées des commandes assurant l'évitement des singularités cinématiques situées au voisinage de la trajectoire désirée.
Certaines commandes, basées sur l'inverse généralisé du jacobien, ont l'inconvénient d'être non répétitive.
Aussi, l'étude de la répétitive de la tâche pour ce robot planaire a été rendue nécessaire.
Ceci nous a permis de concevoir des commandes assurant la cyclicité du mouvement.Les techniques de commande sous contraintes d'un robot manipulateur redondant [texte imprimé] / Benzaoui, Messaouda, Auteur ; Chekireb, Hachemi, Directeur de thèse . - [S.l.] : [s.n.], 2006 . - 122 f. : ill. ; 30 cm. + 1 CD-ROM.
Mémoire de Magister : Automatique : Alger, Ecole Nationale Polytechnique : 2006
Annexes f. 103 - 117. Bibliogr. f. 119 - 122
Langues : Français (fre)
Mots-clés : Robot redondant
Résolution de la redondance
Limites articulaires
Limites sur les couples
Evitement des singularités
Evitement des obstacles
Conservation de la cyclicité du mouvementIndex. décimale : M002206 Résumé : Dans le cadre de ce travail sont appliquées les méthodes de commande sous contraintes des manipulateurs redondants dont le but d'amener le robot à exécuter la poursuite de la trajectoire (tâche principale) sous les contraintes dues à la présence d'autres tâches (taches secondaires).
Cette étude concerne un robot manipulateur planaire à un degré de redondance.
Nous avons développé pour ce robot des commandes permettant d'éviter les obstacles et les contraintes structurelles, spécialement les butées articulaires et les limites des couples.
De plus, ont été élaborées des commandes assurant l'évitement des singularités cinématiques situées au voisinage de la trajectoire désirée.
Certaines commandes, basées sur l'inverse généralisé du jacobien, ont l'inconvénient d'être non répétitive.
Aussi, l'étude de la répétitive de la tâche pour ce robot planaire a été rendue nécessaire.
Ceci nous a permis de concevoir des commandes assurant la cyclicité du mouvement.Exemplaires
Code-barres Cote Support Localisation Section Disponibilité Spécialité Etat_Exemplaire M002206A M002206 Papier Bibliothèque centrale Mémoire de Magister Disponible Documents numériques
BENZAOUI.Messaouda.pdfURL