Simulation dynamique de mains articulees equipees de capteurs tactiles

Abstract

Ce memoire presente un simulateur concu pour effectuer une analyse dynamique complete de manipulateurs arborescents a architecture complexe (mains articulees, robots marcheurs). Le simulateur emploie les equations de Newton-Euler pour la resolution du probleme dynamique inverse. Le logiciel propose est donc un outil d'analyse qui permet de construire un modele de manipulateur, de visualiser la trajectoire specifiee et de calculer les reactions (couples) aux actionneurs. Suite a l'analyse des resultats, le simulateur permet de modifier a volonte les parametres du manipulateur pour obtenir la configuration optimale associee a la tache specifiee. Il sert donc a l'evaluation des performances pour une gamme etendue de manipulateurs arborescents a topologie variable.

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This thesis presents a simulator designed to perform a complete dynamic analysis of tree-like manipulators with complex architecture (articulated hands, walking robots). The simulator uses the Newton-Euler equations for the resolution of the inverse dynamic problem. The proposed software is therefore an analysis tool which makes it possible to build a manipulator model, to visualize the specified trajectory and to calculate the reactions (torques) to the actuators. Following the analysis of the results, the simulator makes it possible to modify the parameters of the manipulator at will to obtain the optimal configuration associated with the specified task. It is therefore used for performance evaluation for a wide range of tree manipulators with variable topology.