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Programmation et commande d’un robot à deux bras pour la manipulation et l’assemblage de pièces flexibles par des tâches collaboratives

Abstract : The main objective of this thesis is to develop a control law to control a two arm robot in order to achieve the manipulation tasks and to ensure the safety aspects for the human and the robot. To accomplish this, we presented an overview of the studies that have been conducted in this context. Thereafter, we proceeded to the kinematic and dynamic robot modeling. In order to calculate its dynamic model, we used the SYMORO+ software. After giving a detailed presentation of the method for identifying the parameters of manipulator robots, we applied it in a concrete way on our own robot. This allowed us to obtain a vector of parameters able to ensure a positive defined inertia matrix for any robot joint configuration, as well as a good quality of torque reconstruction for both constant and variable joint speeds. Thanks to this dynamic identification, we were able to realize an accurate simulator of the robot on Matlab/Simulink. The external forces of the robot have been estimated from the identified dynamic modulus and an experimental validation has been described. To apply control laws on an industrial robot, it was necessary to think about an external communication on the robot. The adopted approach was presented as well as its realization on the robot. The latter allowed us to program in python all our problems to be implemented on the robot. After having validated all the steps previously mentioned we moved on to the implementation of the control on the robot. The main task we adopted is the stripping of the cables. For this purpose, we chose to implement a hybrid force/position control in which the external forces are controlled in order to guarantee the absence of damage on the cables to be stripped. The robot used to perform all the experiments is the IRB14000 YuMi robot from Abb. All the experiments performed in this project have been described and presented. This thesis work was carried out within the framework of the Robotix Academy project financed by the European regional development fund INTERREG V-A Grande Région.
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Submitted on : Monday, November 15, 2021 - 10:37:07 AM
Last modification on : Tuesday, November 16, 2021 - 3:41:39 AM


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Meryem Taghbalout. Programmation et commande d’un robot à deux bras pour la manipulation et l’assemblage de pièces flexibles par des tâches collaboratives. Automatique / Robotique. Université de Lorraine, 2021. Français. ⟨NNT : 2021LORR0165⟩. ⟨tel-03428454⟩



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