Data/hora: 02/06/2024 13:07:26

Provedor de dados: | 5
País: | France
Título: | Contributions to the Coordinated Control of Two Robotic Arms for Underwater Manipulation of Deformable Biological Specimens
Autores: | Leborne, Francois.
Data: | 2018-11-16
Ano: | 2018
Palavras-chave: | Robotique sous-marine; Manipulation; Modélisation; Identification; Mesure d'effort; Underwater Robotics; Manipulation; Modeling; Identification; Force sensing.
Resumo: | 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 to maximise 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 end-effector 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.
Tipo: | Text
Idioma: | Inglês

Identificador:

https://archimer.ifremer.fr/doc/00498/60958/64361.pdf

https://archimer.ifremer.fr/doc/00498/60958/

Editor: | Université de Montpellier
Formato: | application/pdf

Fonte:

info:eu-repo/semantics/openAccess

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