Utilisation de la redondance dans le cadre d'une commande par impedance globale d'un manipulateur

Abstract

Cette recherche effectuee dans le cadre d'un projet de mai trise etudie l'utilisation de la redondance dans une commande par impedance globale d'un manipulateur. Le projet etablit tout d'abord une structure de commande par impedance differente de celle presentee en litterature integrant l'action d'un degre de liberte redondant pour la realisation de taches impliquant une interaction entre le robot et son environnement. Cette etude propose aussi un nouvel espace d'operation du controleur, l'espace-surface, defini a l'aide des informations fournies par le capteur de force. Les parametres de commande sont etablis pour deux taches typiques d'un manipulateur commande en force, soit le contact initial d'une surface et un suivi de contour en 2 dimensions. Les parametres de commande sont definis selon une approche analytique basee sur l'optimisation de divers criteres de performance evalues en simulation. Le systeme de commande est ensuite implante dans un modele simulant un robot seriel a 3 degres de liberte auquel on impose les taches decrites ci-haut. Enfin, l'etude propose l'unification des diverses analyses effectuees au cours du projet en vue d'un algorithme de conception d'une commande globale d'un manipulateur en position et en force.

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This research carried out within the framework of a master's project studies the use of redundancy in a control by global impedance of a manipulator. The project first establishes a control structure by impedance different from that presented in the literature integrating the action of a redundant degree of freedom for the performance of tasks involving an interaction between the robot and its environment. This study also proposes a new space of operation of the controller, the space-surface, defined using the information provided by the force sensor. Control parameters are established for two typical tasks of a force-controlled manipulator, namely initial surface contact and 2-dimensional contour following. The control parameters are defined according to an analytical approach based on the optimization of various performance criteria evaluated in simulation. The control system is then implemented in a model simulating a serial robot with 3 degrees of freedom to which the tasks described above are imposed. Finally, the study proposes the unification of the various analyzes carried out during the project for a design algorithm of a global control of a manipulator in position and in force.