Contribution à la commande stochastique d'un robot redondant sous contraintes d'environnement : application à l'assistance aux handicapés physiques

Abstract : The work described in this thesis relates to the development of a manipulator mounted on an electric wheelchair. This document presents the different aspects studied during the achievement of teletheses, and more broadly during the achievement of cooperative robots. Avery special care is brought to problems relating to the operator's safety. This problem is divided into two sub-problems : the overahh reliability of the system and the collision avoidance. From this last point a new approach to collision avoidances is proposed/ "the randomized generation of trajectory in real time with restraining environment", which allows the operator to work in a non structured world. This method gives satisfaying results with some reservations and is compatible with an on line generation of trajectories
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Alain Le Drezen. Contribution à la commande stochastique d'un robot redondant sous contraintes d'environnement : application à l'assistance aux handicapés physiques. Autre. Université Paul Verlaine - Metz, 1995. Français. ⟨NNT : 1995METZ038S⟩. ⟨tel-01775910⟩

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