Contributions à la commande de deux bras manipulateurs d'un robot sous-marin pour la manipulation à grande profondeur d'échantillons biologiques déformables.

François Leborne 1, 2
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The research carried out in the scope of this doctorate degree aims to develop innovative techniques to improve the collection of biological and mineral samples underwater using robotic manipulators. The end goal is to enhance the handling by robotic means in order tomaximise sample quality provided to marine scientists. The proposed techniques are based on an in-depth analysis of the robotic arm actuators used in most recent underwater intervention vehicles, in order to improve the accuracy of the positionning of the tools held by the manipulator arms. An instrumented tool has also been developed with the aim to measure the reaction forces and adapt the interaction between the arm’s endeffector and its environment to improve samples handling. These methods and the other contributions described in this thesis have been experimentally validated using Ifremer’s hybrid-ROV Ariane equipped with two electrically actuated heterogeneous robotic arms.
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François Leborne. Contributions à la commande de deux bras manipulateurs d'un robot sous-marin pour la manipulation à grande profondeur d'échantillons biologiques déformables.. Automatique / Robotique. Université de Montpellier, 2018. Français. ⟨tel-01998909⟩

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