[Continuation de haut degré pour la détermination des frontières de l'espace de travail d'un robot]
Dans le contexte médico-chirurgical, la robotique peut être d'un grand intérêt pour des procédures plus sûres et plus précises. Les contraintes de compacité pour un dispositif robotique sont cependant fortes. En conséquence, les roboticiens étudient des mécanismes non conventionnels présentant des ratios taille/espace de travail avantageux. La détermination de l'espace de travail, et en premier lieu de ses frontières, est donc primordiale. Cette Note repose sur la définition des équations de frontière, la continuation et la différentiation automatique pour proposer une méthode de détermination de l'espace de travail des mécanismes générique, précise, rapide et automatisée. La méthode est illustrée sur un mécanisme RRR plan et un mécanisme parallèle tridimensionnel, l'Orthoglide.
In the medical and surgical fields, robotics may be of great interest for safer and more accurate procedures. Space constraints for a robotic assistant are however strict. Therefore, roboticists study non-conventional mechanisms with advantageous size/workspace ratios. The determination of mechanism workspace, and primarily its boundaries, is thus of major importance. This Note builds on boundary equation definition, continuation and automatic differentiation to propose a general, accurate, fast and automated method for the determination of mechanism workspace. The method is illustrated with a planar RRR mechanism and a three-dimensional Orthoglide parallel mechanism.
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Mot clés : Mécanismes, Frontières de l'espace de travail, Système d'équations étendu, Différentiation Automatique, Séries de Taylor, Diamant
@article{CRMECA_2016__344_2_95_0,
author = {Gauthier Hentz and Isabelle Charpentier and Pierre Renaud},
title = {Higher-order continuation for the determination of robot workspace boundaries},
journal = {Comptes Rendus. M\'ecanique},
pages = {95--101},
publisher = {Elsevier},
volume = {344},
number = {2},
year = {2016},
doi = {10.1016/j.crme.2015.10.001},
language = {en},
}
TY - JOUR AU - Gauthier Hentz AU - Isabelle Charpentier AU - Pierre Renaud TI - Higher-order continuation for the determination of robot workspace boundaries JO - Comptes Rendus. Mécanique PY - 2016 SP - 95 EP - 101 VL - 344 IS - 2 PB - Elsevier DO - 10.1016/j.crme.2015.10.001 LA - en ID - CRMECA_2016__344_2_95_0 ER -
Gauthier Hentz; Isabelle Charpentier; Pierre Renaud. Higher-order continuation for the determination of robot workspace boundaries. Comptes Rendus. Mécanique, Volume 344 (2016) no. 2, pp. 95-101. doi : 10.1016/j.crme.2015.10.001. https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.1016/j.crme.2015.10.001/
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