Personne :
Belzile, Pierre-Luc

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Belzile
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Pierre-Luc
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Génie mécanique, Département de génie mécanique, Université Laval
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ncf11896837
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Voici les éléments 1 - 2 sur 2
  • Publication
    Accès libre
    A time-domain vibration observer and controller for physical human-robot interaction
    (Pergamon Press, 2016-06-01) Belzile, Pierre-Luc; Gosselin, Clément; Campeau-Lecours, Alexandre; Otis, Martin J.-D.
    This paper presents a time-domain vibration observer and controller for physical Human-Robot Interaction (pHRI). The proposed observer/controller aims at reducing or eliminating vibrations that may occur in stiff interactions. The vibration observer algorithm first detects minima and maxima of a given signal with robustness in regards to noise. Based on these extrema, a vibration index is computed and then used by an adaptive controller to adjust the control gains in order to reduce vibrations. The controller is activated only when the amplitude of the vibrations exceeds a given threshold and thus it does not influence the performance in normal operation. Also, the observer does not require a model and can analyze a wide time frame with only a few computations. Finally, the algorithm is implemented on two different prototypes that use an admittance controller.
  • Publication
    Accès libre
    An articulated assistive robot for intuitive hands-on-payload manipulation
    (Pergamon, 2017-04-19) Belzile, Pierre-Luc; Gosselin, Clément; Campeau-Lecours, Alexandre; Laliberté, Thierry; Foucault, Simon.; Gao, Dalong; Mayer-St-Onge, Boris
    This paper presents an intelligent assistive robot designed to help operators in lifting and moving large payloads through direct physical contact (hands-on-payload mode). The mechanical design of the robot is first presented. Although its kinematics are similar to that of a cable-suspended system, the proposed mechanism is based on articulated linkages, thereby allowing the payload to be offset from the rail support on which it is suspended. A dynamic model of the robot is then developed. It is shown that a simplified dynamic model can be obtained using geometric assumptions. Based on the simplified dynamic model, a controller is then presented that handles the physical human-robot interaction and that provides the operator with an intuitive direct control of the payload. Experimental validation on a full-scale prototype is presented in order to demonstrate the effectiveness of the proposed robot and controller.