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ÉDITIONS UNIVERSITAIRES EUROPÉENNES Mains Mécaniques Articulées pour la Saisie d'Objets: Modélisation et Commande

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Description

Les robots sont principalement constitués d’une base mobile équipée d’un bras articulé muni d’un préhenseur à son extrémité. Le présent ouvrage s’intéresse au développement d’un environnement simulant la manipulation dextre de robots, et d’un atelier virtuel sous environnement ROS. La première partie traitant de la manipulation dextre consiste essentiellement à générer la chaîne cinématique d’une main articulée à quatre doigts pour ensuite la modéliser aux fins de saisie d’objets de diverses formes. Plusieurs postures de ces saisies impliquant les quatre doigts caractérisant la main humaine sont développées grâce à l’application des modèles géométriques direct et inverse. La seconde partie utilise ‘gazebo’ et ‘rviz’ comme simulateur et afficheur respectivement. Le langage python est appliqué pour le développement des scénarios, la génération de configurations intermédiaires du robot ainsi que la position de l’objet, et des configurations de pré-saisie satisfaisantes sont retenues. L’atelier virtuel est affiné grâce à l’intégration d’une caméra ‘kinect’ sous ‘rviz’.

Product Specifications

Format
paperback
Domain
Amazon UK
Release Date
21 September 2016
Listed Since
14 October 2016

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