Développement et expérimentation d'algorithmes de réorientation pour un robot sériel en chute libre

Authors: Bettez-Bouchard, Jean-Alexandre
Advisor: Gosselin, Clément
Abstract: This master’s thesis presents two different types of methods to reorient a free-floating serial manipulator with internal motion using path planning algorithms based on a dynamic model of the manipulator. The first method attempts to reorient the robot with a local optimisation technique using a potential function describing the global orientation of the robot, while the second method applies sinusoidal functions to the joints of the robot in order to reorient it. The proposed methods are tested with a robot that starts from a pose in which all the links are aligned and ends with the same configuration but with the robot having completed a 180 degrees rotation. To verify the simulation results against a real robot, a prototype of a planar robot with three bodies and two revolute joints is built. The experiments conducted show that the prototype is able to achieve the prescribed reorientation if almost no external torque is applied to the system, even though the control of the orientation is implemented in an open-loop mode.
Document Type: Mémoire de maîtrise
Issue Date: 2016
Open Access Date: 24 April 2018
Permalink: http://hdl.handle.net/20.500.11794/27025
Grantor: Université Laval
Collection:Thèses et mémoires

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