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Détail de l'indexation
M002908
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Ouvrages de la bibliothèque en indexation M002908
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Titre : Etude et conception des servo-entraînements dédiés à la robotique Type de document : texte imprimé Auteurs : Ouendi, Fatima, Auteur ; Stihi, Omar, Directeur de thèse ; Zebbadji, Tahar, Directeur de thèse Editeur : [S.l.] : [s.n.] Année de publication : 2008 Importance : 56 f. Présentation : ill. Format : 30 cm Accompagnement : 1 CD-ROM. Note générale : Mémoire de Magister: Automatique: Alger, Ecole Nationale Polytechnique: 2008
Bibliogr. [3] f. Annexe [2] fLangues : Français (fre) Mots-clés : Commande des robots manipulateurs
Actionneurs pas à pas
Microcontroleurs 16f877
USARTIndex. décimale : M002908 Résumé : L'objectif de ce travail est d'implémenter et de tester des algorithmes de commande en utilisant une carte électronique à base de microcontrôleur.
Cette carte est conçue et réalisée pour piloter un bras manipulateur planaire à trois degrés de liberté de type SCARA.
Ce robot est actionné par trois moteurs pas à pas.
Une interface graphique avec une liaison USART (PC-Carte électronique) a été développée pour le pilotage du robot à partir d'un PC.
Dans ce sens nous décomposons notre travail en quatre chapitres Dans le premier chapitre, nous nous intéressons aux méthodes de commande des manipulateurs ainsi que la présentation du bras utilisé puis nous avons justifié notre choix de la commande numérique à base de microcontrôleur.
Un robot manipulateur d‘application est un robot SCARA.
Le deuxième chapitre est dédié à l‘étude des moteurs pas à pas.
Pour ce faire nous passerons en revue les différents types de moteurs pas à pas ainsi que leurs principe de fonctionnement et leurs modes de commandes.
La classification de ces moteurs, nous permettra ensuite de sélectionner la structure la mieux adaptée à l'application considérée.
Le troisième chapitre étudie l'optimisation de la commande du moteur pas à pas et du bras manipulateur en un temps minimum et traite de la conception et de la réalisation matérielle de la commande ainsi que la description des différents circuits qui constituent cette dernière.
Enfin, le quatrième chapitre est consacré à la conception logicielle du système, où les différents organigrammes régissant le fonctionnement de la commande ainsi que les outils de développements utilisés à cet effet sont décrits.Etude et conception des servo-entraînements dédiés à la robotique [texte imprimé] / Ouendi, Fatima, Auteur ; Stihi, Omar, Directeur de thèse ; Zebbadji, Tahar, Directeur de thèse . - [S.l.] : [s.n.], 2008 . - 56 f. : ill. ; 30 cm + 1 CD-ROM.
Mémoire de Magister: Automatique: Alger, Ecole Nationale Polytechnique: 2008
Bibliogr. [3] f. Annexe [2] f
Langues : Français (fre)
Mots-clés : Commande des robots manipulateurs
Actionneurs pas à pas
Microcontroleurs 16f877
USARTIndex. décimale : M002908 Résumé : L'objectif de ce travail est d'implémenter et de tester des algorithmes de commande en utilisant une carte électronique à base de microcontrôleur.
Cette carte est conçue et réalisée pour piloter un bras manipulateur planaire à trois degrés de liberté de type SCARA.
Ce robot est actionné par trois moteurs pas à pas.
Une interface graphique avec une liaison USART (PC-Carte électronique) a été développée pour le pilotage du robot à partir d'un PC.
Dans ce sens nous décomposons notre travail en quatre chapitres Dans le premier chapitre, nous nous intéressons aux méthodes de commande des manipulateurs ainsi que la présentation du bras utilisé puis nous avons justifié notre choix de la commande numérique à base de microcontrôleur.
Un robot manipulateur d‘application est un robot SCARA.
Le deuxième chapitre est dédié à l‘étude des moteurs pas à pas.
Pour ce faire nous passerons en revue les différents types de moteurs pas à pas ainsi que leurs principe de fonctionnement et leurs modes de commandes.
La classification de ces moteurs, nous permettra ensuite de sélectionner la structure la mieux adaptée à l'application considérée.
Le troisième chapitre étudie l'optimisation de la commande du moteur pas à pas et du bras manipulateur en un temps minimum et traite de la conception et de la réalisation matérielle de la commande ainsi que la description des différents circuits qui constituent cette dernière.
Enfin, le quatrième chapitre est consacré à la conception logicielle du système, où les différents organigrammes régissant le fonctionnement de la commande ainsi que les outils de développements utilisés à cet effet sont décrits.Exemplaires
Code-barres Cote Support Localisation Section Disponibilité Spécialité Etat_Exemplaire M002908A M002908 Papier Bibliothèque centrale Mémoire de Magister Disponible M002908B M002908 Papier Bibliothèque centrale Mémoire de Magister Disponible Documents numériques
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