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Procédé de commande d'un automate à actionnement parallèle redondant, dispositif de commande associé et automate

François Pierrot 1 Ahmed Chemori 1 Micaël Michelin 2 
1 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The invention concerns a method of controlling a machine with redundant parallel actuation comprising a frame and a mobile element driven by a plurality of mechanical transmissions parallel to one another and each being activated by an actuator (2) comprising a body fixed to the frame, an actuating member and a position sensor, in which an error signal is produced by comparing the position of each actuator with a setpoint signal, characterised in that the error signals are converted into a mobile element position error signal by applying data representative of the kinematics of the mechanical transmissions, the mobile element error signal is processed by a processing module which produces an effort signal to be applied to the mobile element, the effort signal is converted into signals controlling the actuators by applying data representative of the kinematics of the mechanical transmissions.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00861244
Contributor : Isabelle Gouat Connect in order to contact the contributor
Submitted on : Thursday, September 12, 2013 - 12:41:34 PM
Last modification on : Friday, October 14, 2022 - 10:49:37 AM

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  • HAL Id : lirmm-00861244, version 1

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François Pierrot, Ahmed Chemori, Micaël Michelin. Procédé de commande d'un automate à actionnement parallèle redondant, dispositif de commande associé et automate. France, N° de brevet: FR2978933. 2013. ⟨lirmm-00861244⟩

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