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Theses

Contribution à la commande robuste d’un manipulateur utilisé en meulage

Abstract : The use of industrial robots for machining or grinding operations becomes a necessity. However, the robotization of grinding processes faces several obstacles that arise especially when grinding large workpieces. Process robotization also requires the definition of an efficient methodology for planning the robot trajectory. This methodology should reduce the grinding time and at the same time guarantee that the desired surface finish is obtained. In the framework of this thesis, we will propose a practical solution for the robotization of the grinding process.
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https://hal.univ-lorraine.fr/tel-03254748
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Submitted on : Wednesday, June 9, 2021 - 10:22:29 AM
Last modification on : Thursday, June 10, 2021 - 3:35:43 AM

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  • HAL Id : tel-03254748, version 1

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Mohamed Didi Chaoui. Contribution à la commande robuste d’un manipulateur utilisé en meulage. Automatique / Robotique. Université de Lorraine, 2020. Français. ⟨NNT : 2020LORR0226⟩. ⟨tel-03254748⟩

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