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                <title xml:lang="en">Robust control of cable-driven parallel robots with exteroceptive measurement</title>
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                <term xml:lang="en">Robot identification</term>
                <term xml:lang="en">Robot modelling</term>
                <term xml:lang="en">Robust control</term>
                <term xml:lang="en">Visual servoing</term>
                <term xml:lang="en">Tension distribution</term>
                <term xml:lang="en">Real-time control</term>
                <term xml:lang="fr">Asservissements visuels</term>
                <term xml:lang="fr">Distribution des tensions</term>
                <term xml:lang="fr">Commande en temps-réel</term>
                <term xml:lang="fr">Commande robuste</term>
                <term xml:lang="fr">Commande des robots</term>
                <term xml:lang="fr">Identification des robots</term>
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              <p>This thesis presents a complete work on modelling, identification and control of cable-driven parallel robots in order to improve the dynamic performances in terms of speed, precision and robustness, while managing the problems related to the use of cables. In the context of these researches, the identification and control techniques are improved thanks to the use of exteroceptive sensors, in particular using vision. Methods from the fields of robotics and control are implemented and compared. The experimental validations are performed on a demonstrator available in the laboratory : an INCA 6D robot designed by Haption company, equipped with a Bonita motion capture system developed by Vicon company.</p>
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              <p>Cette thèse présente un travail complet sur la modélisation, l'identification et la commande des robots parallèles à câbles dans le but d'améliorer les performances dynamiques en termes de rapidité, de précision et de robustesse obtenues, tout en gérant les problèmes liés à l'utilisation de câbles. Dans le cadre de ces recherches, les techniques d'identification et de commande sont améliorées grâce à l'utilisation de mesures extéroceptives, notamment en utilisant la vision. Des méthodes issues des domaines de la robotique et de l'automatique sont mises en oeuvre et comparées. Les validations expérimentales sont effectuées sur un démonstrateur disponible au laboratoire : un robot INCA 6D conçu par la société Haption, équipé d'un système de capture de mouvement Bonita développé par la société Vicon.</p>
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