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Master Thesis

Modélisation, identification et commande dynamique d’un robot d’architecture parallèle

Abstract : The "Orthoglide" is a 3-axis machine tool with parallel architecture, expandable to 5 axes, doesn’t have the disadvantages inherent parallel mechanisms. An approach has been developed to optimal design based on a mathematical criterion: Isotropy. Isotropy reflects the uniform performance at all points and in all directions in the workspace required. The prototype is ready to be analyzed and its performance validated. It’s the aim of this thesis. Methods. have been developed to identify geometric offset motor by observing the movements of the parallelograms. This calibration ensures the right geometry of the pieces. Before calibrating the robot, it’s necessary to implement its dynamic control, the work done in this thesis is a contribution to all the necessary operations for the modeling of this prototype.
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Master Thesis
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Submitted on : Thursday, May 21, 2015 - 10:35:46 AM
Last modification on : Monday, October 19, 2020 - 11:05:44 AM
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  • HAL Id : dumas-01154107, version 1


Philippe Lelias. Modélisation, identification et commande dynamique d’un robot d’architecture parallèle. Automatique / Robotique. 2013. ⟨dumas-01154107⟩



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