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Contributions à l'estimation de mouvement 3D et à la commande par vision rapide : application aux robots parallèles

Abstract : Visual sensing is very appreciated in manipulation robotics since it provides measures for pose estimation and robot control. Conceptually, vision allows improving the performance of manipulator robots control from accuracy and robustness (against kinematic parameters errors) points of view. In addition, vision-based control is particularly relevant for parallel robot manipulators. In fact, the state of these robots is usually better described by the pose of their mobile platform than by their articular joints. Thus, the use of vision simplifies the control of parallel robots. However, the typical vision systems do not fulfil the dynamic control constraints on the acquisition frequency and the latency. The approach proposed in this thesis is to perform a sequential acquisition of regions of interest which contain the useful visual features to cut down the data amount to transmit. Thus allows for reducing the acquisition period and latency. In addition, the sequential acquisition allows for estimating both the pose and the velocity of the robot platform. Thanks to this acquisition method, several control laws are proposed. The experimental results show that the performance of the proposed vision based dynamic control laws are, for the first time, better than classical dynamic control.
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Redwan Dahmouche. Contributions à l'estimation de mouvement 3D et à la commande par vision rapide : application aux robots parallèles. Autre. Université Blaise Pascal - Clermont-Ferrand II, 2010. Français. ⟨NNT : 2010CLF22070⟩. ⟨tel-00713533⟩

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