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Fabio MORBIDI
Laboratoire MIS
Équipe Perception Robotique
E-mail: fabio.morbidi@u-picardie.fr
2
Plan du cours
Chapitre 1 : Introduction
1.1 Définitions
4
Bibliographie
• Robotics: Modelling, Planning and Control,
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo,
Springer, 1re éd., 2009, 632 pages (Ch. 1,2,3,6)
Matériel de cours:
http://home.mis.u-picardie.fr/~fabio/Teaching_RI21-22.html
5
Note finale =
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2
1
(Matlab, langage C)
DS +
✓
3
et déterminant d’une matrice, etc.)
Connaissances préalables
◆
Contrôle: 1 DS (exercices, questions de théorie), 3 TP
On suppose que vous avez une bonne connaissance de:
Ducrocq)
(avec Julien
6
Plan du cours
Chapitre 1 : Introduction
1.1 Définitions
7
Robotique : un domaine pluridisciplinaire !
Robotique
8
Robotique : un domaine pluridisciplinaire !
Électronique Informatique
Mécanique Automatique
Éthique
Physique
Mathématiques
9
1.1 Définitions
Étymologie: mot tchèque robota (travail
forcé), dans la pièce de théâtre “Rossum’s
Universal Robots” de Karel Capek, 1920
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6
2
Robots ?!
3 4 5
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Un robot est la combinaison de composants matériels
(mécanique, hardware) et immatériels (logiciels)
Historique:
• 1947 : premier manipulateur électrique téléopéré
12
… au cinéma Robot T-800
(Terminator, 1984)
Robot
Sonny
(I, Robot,
2004)
Bad Robot
Productions
(J.J. Abrams) Robby the Robot
(Forbidden Planet, 1956)
Organe Corps
terminal (ou segment)
(flange)
Articulation
(ou liaison, axe)
Effecteur ou outil
(ex. pince/préhenseur)
Base
14
1.2 Constituants d’un robot (voc. anglophone)
Link
Joint
End-effector ou tool
(ex. gripper)
Support
(ou base)
15
Bâti
(Corps 0)
Articul. 1
Corps 1
Articul. 2
Corps 2
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Articul. 3
1.2 Constituants d’un robot
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<latexit
.......
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Articul. n
Corps
rigides reliés par n articulations
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<latexit
1
n
1
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Articul. n
Robot manipulateur “standard” = n corps mobiles
Corps
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<latexit
n
Organe
terminal
16
1.2 Constituants d’un robot
17
1.2 Constituants d’un robot
informations proprioceptives
4 1 2
Système Mécanique Articulé
(S.M.A.)
3 environnement
informations
extéroceptives
18
Modélisation d’un robot
La modélisation est possible à plusieurs niveaux
Contrôleur Actionneurs
Structure
Chaîne série
ouverte
20
1.3 Classification des robots
Les robots mobiles
Robot à roues
Robot à jambes Robot sous-marin
Atlas
www.bostondynamics.com
WALK-MAN
www.walk-man.eu
Nao et Pepper
www.ald.softbankrobotics.com ICub
www.icub.org
22
1.3 Classification des robots
Robotique de service
HP RoboCop
Whiz
Aibo
https://us.aibo.com
Wakamaru
Roomba Robomow
Manipulateur
cylindrique
Manipulateur
cartésien
Manipulateur
sphérique Manipulateur
anthropomorphe
Manipulateur
SCARA
27
1.4 Caractéristiques d’un robot
• La répétabilité caractérise la capacité que le robot a
à retourner vers un point (position, orientation) donné.
La répétabilité en positionnement est de l’ordre de 0.05 mm
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OB ✗
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référence B
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✗ ✗
✗
✗
Sphère de répétabilité
(la plus petite sphère qui contient les n essais)
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• OB : précision de positionnement
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28
1.4 Caractéristiques d’un robot
• La masse du robot
29
Exemple (Fiche technique du robot
M-20iB/25 de FANUC)
Volume de travail
Butées
mécaniques
30
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<latexit
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<latexit
✓
Articulation rotoïde
31
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<latexit
d
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<latexit
axe commun
Articulation prismatique
32
Remarque
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<latexit
Définition (Degré de liberté, DDL):
d'articulations rotoïdes ou prismatiques
1.4 Caractéristiques d’un robot
33
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<latexit
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<latexit
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<latexit
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<latexit
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<latexit
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<latexit
Libertés des
corps rigides
Nombre de DDL = m(n
1)
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<latexit
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<latexit
J
i=1
X
ci = m(n
l’articulation i , avec fi + ci = m, 8 i 2 {1, . . . , J}.
La formule de Grübler pour les DDL du robot est:
Contraintes
des articulations
J) +
J
Étant donné un robot qui se compose de n corps (où le sol est
X
par l’articulation i , et ci le nombre de contraintes imposées par
fi
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<latexit
le nombre de DDL d’un corps rigide (m = 3 pour les mécanismes 2D
et m = 6 pour les mécanismes 3D), fi le nombre de libertés fournies
considéré aussi comme un corps), soit J le nombre d’articulations, m
34
1.4 Caractéristiques d’un robot
Exemples élémentaires:
• Une porte à charnières a 1 DDL
• Une sphère sur un plan a 5 DDL: 2 pour fixer les coordonnées d'un
point dans le plan et 3 pour déterminer son orientation dans le plan
35
1)
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<latexit
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<latexit
Nombre de DDL = 1
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<latexit
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<latexit
2) Mécanisme bielle-manivelle
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<latexit
5) Mécanisme de Stephenson (6 corps)
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<latexit
Nombre de DDL = 3(3
k
à k articulations
3) Chaîne planaire
Nombre de DDL = k
1.4 Caractéristiques d’un robot
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<latexit
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<latexit
6) Mécanisme de Watt (6 corps)
4) + 4 = 1
n = 4, m = 3, J = 4, fi = 1, i 2 {1, . . . , 4}
Nombre de DDL =
4) Chaîne fermée
3(6 1 7) + 7 = 1
4 corps (y compris le sol), 4 articulations rotoïdes
Nombre de DDL = 2
36
1.4 Caractéristiques d’un robot
• Une chaîne cinématique simple est appelée ouverte (ou série) lorsqu'il
n’existe qu'une seule séquence de segments reliant les deux extrémités
de la chaîne
Segment
Articulation
Chaîne
ouverte
arborescente
Boucle
Chaîne ouverte
3 DDL
38
1.4 Caractéristiques d’un robot
• Les DDL d’un robot doivent être convenablement distribués le long de la structure
mécanique afin d’en avoir un nombre suffisant pour exécuter une tâche donnée
2 DDL
39
1.4 Caractéristiques d’un robot
Exemples:
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<latexit
• Robot LBR iiwa
✓2
de KUKA (7 axes)
de Yaskawa (6 axes)
• Robot Motoman HC10
sha1_base64="FgzaaXJuEotogvSB50u/R0YZ5Aw=">AAACiXicbVHBTtwwEPWmtKWhLdAee4nYReppFa9UFXECwaGXqlRiAWkTVo4z2bU2dizb2QKW/6NX+Cv+Bmc3hwY6kuWnN29mnj2ZLJk2cfzYC15tvH7zdvNduPX+w8ftnd1PF7qqFYUxrcpKXWVEQ8kEjA0zJVxJBYRnJVxmi5Mmf7kEpVklzs2thJSTmWAFo8R46nowCBMzB0OmOBwMpjv9eBivInoJcAv6qI2z6W4PkryiNQdhaEm0nuBYmtQSZRgtwYVJrUESuiAzmHgoCAed2pVtF+17Jo+KSvkjTLRi/62whGt9yzOv5MTM9fNcQ/43l+umYWe6bVRKF7rL1nKmABZdo/mSSd1avVl77T7EFAepZULWBgR1URQmAv7QinMicpsswbgJTm0CQtcKmsHWJs2VFVEfO+e7nYL/LgU/PXlcyjnJwKwl8o46++scO7tC3FnmH+IXg5+v4SW4GA3xt2H8e9Q/GrUr2kRf0B76ijD6jo7QD3SGxogihf6ie/QQbAU4OAgO19Kg19Z8Rp0ITp4A8GbJlA==</latexit>
<latexit
✓1
Articulation flexible
Élément élastique
Segment
(ressort de torsion)
1.4 Caractéristiques d’un robot
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<latexit
« classiques » à articulations et à segments rigides
y0
• Ils sont plus coûteux et plus difficiles à contrôler que les robots
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<latexit
Segment
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<latexit
Segment flexible
segments flexibles (voir par ex. les ch. 5 et 6 du livre Theory of Robot
Control, C. Canudas de Wit, B. Siciliano, G. Bastin, Eds. Springer, 1996)
!(x)
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<latexit
• Récemment, on a vu aussi l’apparition de robots avec articulations et/ou
x0
41