RobotiqueSciences de l'Ingénieur 7 (MRI)

The aim of this module is to transmit, through a multidisciplinary approach, the basic knowledge and methodological tools to establish and analyse the control models of an industrial robot.

Cinematic of mechanical systems (mark, position, speed, connections)

Linear algebra

1. Introduction to robotics and robot architecture.

2. Settings tools:

• identification of mechanical connections,
• reference change matrix,
• Simple and modified Denavit-Hartenberg settings.

3. Direct geometric models:

• calculation of the position and orientation of the actuator,

4. Inverse geometric model resolution:

• Paul's classical method and method,
• existence and uniqueness of the solution, working space.

5. Cinematic models:

• by bypass or by movement composition,
• study of singularities.

Study of industrial robots: Unimate, Staubli, ACMA TH8.

Must be on a supervised table, without document or calculator.

• Khalil, Wisama; Dark, Etienne, "Modeling, identification and control of robots", Hermès

• Coiffet, Philippe, "The Robotics: Principles and Applications", Hermès

• German, Jean-Paul; Zeghloul, Said, "Robotics: fundamental aspects: mechanical modelling, robotic CAD, control: with corrected exercises", Masson