Stratégie de commande d'un système multi-chaînes

Gorce P., Guihard M., Fontaine J.

Journal Europeen des Systemes Automatises, vol.30, no.1, pp.63-83, 1996 (Scopus) identifier

  • Publication Type: Article / Article
  • Volume: 30 Issue: 1
  • Publication Date: 1996
  • Journal Name: Journal Europeen des Systemes Automatises
  • Journal Indexes: Scopus
  • Page Numbers: pp.63-83
  • Keywords: Control architecture, Forces distribution, Inverse dynamic model, Multi-chains systems, Real-time
  • Open Archive Collection: Article
  • Azerbaijan State University of Economics (UNEC) Affiliated: Yes

Abstract

In this paper, we present an efficient control/command scheme for multiple-chains robotic systems (multifingered hand, multiple manipulators and multilegged vehicle) in which the coordination and optimal force distribution problems have been taken into account. To do this, we have studied the similarities of such systems in order to draft a first control command scheme. In function of their differences we have completed this first control/command scheme in the aim to obtain a "versatil" version. In order to embed this control/command scheme, we have paid a great attention to real-time constraints. So, we have optimized the IDM resolution and used a linear programming method (Simplex method) to solve the optimal force distribution problem.