Utilisation d'un mécanisme parallèle à faible impédance pour une interaction humain-robot intuitive et hautement réactive

Authors: Boucher, Gabriel
Advisor: Gosselin, Clément
Abstract: This thesis presents the design and experimental validation of a passive elastic parallel mechanism used to control intuitively and safely a five-degree-of-freedom serial robot. The thesis presents two articles which were written in the course of the project. The articles present, firstly, the control algorithm which is the basis of the concept, and secondly, the mechanical design of the passive mechanism. The algorithm is inspired from the macro/mini architecture where the human user interacts with a lowimpedance passive mechanism in order to control the motion of a larger actuated mechanism which has a higher impedance. This concept, used on gantry manipulators, is extended to a serial robot with multiple degrees of freedom. The algorithm uses a displacement measurement from the passive mechanism in order to compute and apply torques to the actuated mechanism. In order to measure the displacements, a passive six-degree-of-freedom mechanism is designed. The architecture of the sensor, based on the Gough-Stewart platform, is in fact a passive parallel mechanism mounted around the link of a serial robot. Experimental results are provided.
Document Type: Mémoire de maîtrise
Issue Date: 2019
Open Access Date: 17 December 2019
Permalink: http://hdl.handle.net/20.500.11794/37614
Grantor: Université Laval
Collection:Thèses et mémoires

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