FR3090913B1 - Methode de caracterisation d’un simulateur de mouvements, procede de surveillance et dispositif correspondant - Google Patents

Methode de caracterisation d’un simulateur de mouvements, procede de surveillance et dispositif correspondant Download PDF

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Publication number
FR3090913B1
FR3090913B1 FR1874139A FR1874139A FR3090913B1 FR 3090913 B1 FR3090913 B1 FR 3090913B1 FR 1874139 A FR1874139 A FR 1874139A FR 1874139 A FR1874139 A FR 1874139A FR 3090913 B1 FR3090913 B1 FR 3090913B1
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France
Prior art keywords
movement simulator
characterization
corresponding device
simulator
surveillance
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Active
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FR1874139A
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FR3090913A1 (fr
Inventor
Bernard Vau
Damien Ponceau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Exail SAS
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iXBlue SAS
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Priority to FR1874139A priority Critical patent/FR3090913B1/fr
Publication of FR3090913A1 publication Critical patent/FR3090913A1/fr
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Publication of FR3090913B1 publication Critical patent/FR3090913B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37612—Transfer function, kinematic identification, parameter estimation, response
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40527—Modeling, identification of link parameters

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Testing And Monitoring For Control Systems (AREA)

Abstract

« METHODE DE CARACTERISATION D’UN SIMULATEUR DE MOUVEMENTS, PROCEDE DE SURVEILLANCE ET DISPOSITIF CORRESPONDANT » L’invention concerne une méthode de caractérisation d’un simulateur de mouvements dans laquelle on estime des paramètres liés au fonctionnement dudit simulateur de mouvements. Dans cette méthode, on effectue une identification dynamique de modèle inverse (IDIM) par la méthode de la variable instrumentale dans laquelle on détermine une matrice instrumentale Z, et on simplifie le calcul de la matrice Z en utilisant une des consignes de vitesse et d’accélération acquises filtrées plutôt que des mesures acquises filtrées. La méthode permet la mise en œuvre d’un procédé de surveillance du fonctionnement du simulateur de mouvements. FIGURE 1
FR1874139A 2018-12-24 2018-12-24 Methode de caracterisation d’un simulateur de mouvements, procede de surveillance et dispositif correspondant Active FR3090913B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1874139A FR3090913B1 (fr) 2018-12-24 2018-12-24 Methode de caracterisation d’un simulateur de mouvements, procede de surveillance et dispositif correspondant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1874139A FR3090913B1 (fr) 2018-12-24 2018-12-24 Methode de caracterisation d’un simulateur de mouvements, procede de surveillance et dispositif correspondant

Publications (2)

Publication Number Publication Date
FR3090913A1 FR3090913A1 (fr) 2020-06-26
FR3090913B1 true FR3090913B1 (fr) 2021-01-22

Family

ID=66867315

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1874139A Active FR3090913B1 (fr) 2018-12-24 2018-12-24 Methode de caracterisation d’un simulateur de mouvements, procede de surveillance et dispositif correspondant

Country Status (1)

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FR (1) FR3090913B1 (fr)

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2887044B1 (fr) * 2005-06-10 2007-08-10 Wuilfert Societe Par Actions S Dispositif de reglage automatique des asservissements d'un simulateur mecanique de mouvements et dispositif associe

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FR3090913A1 (fr) 2020-06-26

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