Modélisation mathématique pour la commande de robots : application à la conception et à la réalisation d'un bras embarqué sur un fauteuil pour handicapé moteur

Abstract : For over thousand years Man has been trying more or less successfully to make up for his disabilities. This study presents the existing systems, an analysis of the characteristics, performances and various trajectoires of the human arm, as well as the main handicaps to which a mechanic arm can bring a form of help. Chapter 2 reveals the gaps in the field of normalization and of the security of cooperation robots. Further investigation analyses the paths leading to the accident and proposes the gestural possibilities of an arm on a wheel-chair, together with a training approach. Chapters 3 to 5 deal with the normalization and parametering, based on the theory of mechanisms, of all the articulated chairs, the soft structures, the moving robots, and the errors. All the mathematic models are developed from this modeling as well as those of the arm on a wheel-chair. We will then detail and quantify the losses of the whole chain and their taking into account in the dynamic modes. The last part presents the arm which combines the advantages of scara and anthropomorphic architectures, the conception, the gestural possibilities, the performances, the materials and components
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Charles Bop. Modélisation mathématique pour la commande de robots : application à la conception et à la réalisation d'un bras embarqué sur un fauteuil pour handicapé moteur. Autre. Université Paul Verlaine - Metz, 1992. Français. ⟨NNT : 1992METZ020S⟩. ⟨tel-01775981⟩

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