Robots mobiles a remorque
Author | : Florent Lamiraux |
Publisher | : |
Total Pages | : 0 |
Release | : 1997 |
Genre | : |
ISBN | : |
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Author | : Florent Lamiraux |
Publisher | : |
Total Pages | : 0 |
Release | : 1997 |
Genre | : |
ISBN | : |
Author | : Florent Lamiraux |
Publisher | : |
Total Pages | : 224 |
Release | : 1997 |
Genre | : |
ISBN | : |
CE MEMOIRE ABORDE LE PROBLEME DU MOUVEMENT D'UN ROBOT MOBILE A ROUES, TIRANT UNE REMORQUE, DANS UN ENVIRONNEMENT ENCOMBRE D'OBSTACLES. LE BUT EST DE CONCEVOIR DES ALGORITHMES PERMETTANT A UN TEL SYSTEME DE SE RENDRE DE MANIERE AUTONOME D'UNE POSITION A UNE AUTRE. NOTRE APPROCHE COMPREND TROIS PHASES. LA PREMIERE CONSISTE A CALCULER UN CHEMIN FAISABLE RELIANT LES DEUX POSITIONS. ON UTILISE POUR CELA UN SCHEMA EN DEUX ETAPES DECOUPLANT LES CONTRAINTES PHYSIQUES DUES AUX OBSTACLES DES CONTRAINTES CINEMATIQUES DUES AU ROULEMENT SANS GLISSEMENT DES ROUES DU ROBOT. ENSUITE, UN PARAMETRAGE TEMPOREL DE CE CHEMIN PERMETTANT DE RESPECTER LES ACCELERATIONS ET LES VITESSES MAXIMALES DU ROBOT, EST CALCULE. ENFIN, UNE LOI DE COMMANDE EN BOUCLE FERMEE PERMET D'ASSERVIR LE ROBOT AUTOUR DE SA TRAJECTOIRE DE REFERENCE. DES RESULTATS EXPERIMENTAUX, MENES SUR UN SYSTEME REEL, SONT PRESENTES DANS LE MEMOIRE.
Author | : Firas Rouissi |
Publisher | : Omniscriptum |
Total Pages | : 88 |
Release | : 2012 |
Genre | : |
ISBN | : 9783841796318 |
La commande d'un robot mobile constitue un problème complexe à résoudre qui nécessite la mise en oeuvre d'une stratégie capable de faire face à la complexité de ce type de systèmes. L'approche basée sur la théorie floue paraît une technique puissante et montre une grande capacité pour la commande d'un robot mobile de type voiture, avec ou sans remorque. Dans ce projet, le problème d'obstacle pour un robot mobile de type voiture est étudié. Pour assurer la souplesse des mouvements du robot face à une situation pareille et pour imiter les connaissances humaines dans le domaine de conduite des véhicules, un régulateur flou de type Mamdani est conçu. L'approche a était testé pour des systèmes plus complexes telle que robot mobile avec une et deux remorques et a donné des résultats satisfaisants.
Author | : Joseph L. Jones |
Publisher | : A K Peters/CRC Press |
Total Pages | : 378 |
Release | : 1993 |
Genre | : Technology & Engineering |
ISBN | : |
Author | : Andy Evans |
Publisher | : |
Total Pages | : 0 |
Release | : 2023-09-19 |
Genre | : Technology & Engineering |
ISBN | : 9781647266752 |
A mobile robot is an automatic machine that is capable of moving around in a physical environment. Mobile robotics is a subfield of robotics and information engineering concerned with the research and development of mobile robots. This field integrates the technological advancements in machine learning with physical environment, which enables the mobile robots to navigate their surroundings. Mobile robots can be classified into autonomous mobile robots and non-autonomous mobile robots. Autonomous robots do not require any external guidance for locomotion, while non-autonomous mobile robots move with the assistance of a guidance system. Mobile robots have applications in hospitals, industries and military. This book is a compilation of chapters that discuss the most vital concepts and emerging trends in the field of mobile robotics. A number of latest researches have been included to keep the readers up-to-date with the global concepts in this area of study. The book aims to serve as a resource guide for students and experts alike and contribute to the growth of the discipline.
Author | : Karl Iagnemma |
Publisher | : Springer Science & Business Media |
Total Pages | : 136 |
Release | : 2004-07-08 |
Genre | : Technology & Engineering |
ISBN | : 9783540219682 |
This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.
Author | : |
Publisher | : |
Total Pages | : 772 |
Release | : 2001 |
Genre | : Automatic control |
ISBN | : |
Publishes theoretical and applied original papers in dynamic systems. Theoretical papers present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. Applied papers include modeling, simulation, and corroboration of theory with emphasis on demonstrated practicality.
Author | : Paulo Flores |
Publisher | : Springer |
Total Pages | : 177 |
Release | : 2016-03-15 |
Genre | : Technology & Engineering |
ISBN | : 3319308971 |
This book analyzes several compliant contact force models within the context of multibody dynamics, while also revisiting the main issues associated with fundamental contact mechanics. In particular, it presents various contact force models, from linear to nonlinear, from purely elastic to dissipative, and describes their parameters. Addressing the different numerical methods and algorithms for contact problems in multibody systems, the book describes the gross motion of multibody systems by using a two-dimensional formulation based on the absolute coordinates and employs different contact models to represent contact-impact events. Results for selected planar multibody mechanical systems are presented and utilized to discuss the main assumptions and procedures adopted throughout this work. The material provided here indicates that the prediction of the dynamic behavior of mechanical systems involving contact-impact strongly depends on the choice of contact force model. In short, the book provides a comprehensive resource for the multibody dynamics community and beyond on modeling contact forces and the dynamics of mechanical systems undergoing contact-impact events.
Author | : |
Publisher | : |
Total Pages | : 1482 |
Release | : 1980 |
Genre | : Exports |
ISBN | : |
Author | : Pedro Filipe Cunha |
Publisher | : Springer Science & Business Media |
Total Pages | : 599 |
Release | : 2007-09-18 |
Genre | : Computers |
ISBN | : 0387498648 |
The first Digital Enterprise Technology (DET) International Conference was held in Durham, UK in 2002 and the second DET Conference in Seattle, USA in 2004. Sponsored by CIRP (College International pour la Recherche en Productique), the third DET Conference took place in Setúbal, Portugal in 2006. Digital Enterprise Technology: Perspectives and Future Challenges is an edited volume based on this conference. Topics include: distributed and collaborative design, process modeling and process planning, advanced factory equipment and layout design and modeling, physical-to-digital environment integrators, enterprise integration technologies, and entrepreneurship in DET.