GECARO: A system for the GEometric CAlibration of RObots

International audienceThis paper presents a software package for the simulation and the practical calibration of the geometric parameters of robots. This system which is called GECARO, GEometric CAlibration of RObots, contains a large variety of methods to identify the geometric parameters of robots. GECARO is running on PC computers and developed using MATLAB; any general serial robot can be treated directly. The identifiable parameters are determined using a numerical method based on the QR decomposition, while the identification is carried out using linearized model which is solved iteratively using least squares criterion and by updating the observation matrix after each iteration

The eel-like robot

International audienceThe aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the realization of a prototype with 12 vertebrae, a skin and a head with two fins. To reach these objectives, a multidisciplinary group of teams and laboratories has been formed in the framework of two French projects

A Probabilistic Approach to Susceptibility Measurement in a Reverberation Chamber

International audienceIn this article, we propose an alternative approach for measuring the susceptibility level of an equipment under test in a reverberation chamber. Instead of using a statistical estimation of the maximum, our estimation is based on an esti- mation of the probability of failure of the equipment under test. We show through Monte Carlo simulations that the probability of failure of an equipment under test allows to predict with a good accuracy its susceptibility level. An experimental validation with a simple equipment under test shows that the susceptibility levels measured in a reverberation chamber are consistent with measurements performed in a GTEM cell

Optimization of immunity testings in a mode tuned reverberation chamber with Monte Carlo simulations

International audienceIn this article, we show that an estimation of the probability of failure of a device under test can provide an accurate information about its susceptibility. Monte Carlo simulations give statistical results on the quality of the estimation and a virtual equipment under test is tested numerically with this approach. We propose a modus operandi that reduces the duration of the testing and in-creases its accuracy. Measurements on a real device confirm our predictions

Identification of the Dynamic Parameters of the Orthoglide

International audienceThis paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. The dynamic identification model is based on the inverse dynamic model, which is linear in the parameters. The model is computed in a closed form in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The base inertial parameters of the robot, which constitute the identifiable parameters, are given

MODELE DE HILL APPLIQUE A LA DETERMINATION DE LA SURFACE EQUIVALENTE D'UN MATERIAU ABSORBANT

International audienceCette communication traite d'une méthode de mesure électromagnétique en chambre réverbérante visant à déterminer l'efficacité d'absorption d'un objet placé à l'intérieur. L'objet est soumis au champ stationnaire créé dans l'enceinte réverbérante entretenu à très haute fréquence vis-à-vis de la dimension de la cavité. Sur le plan théorique, la surface équivalente est évaluée au moyen de l'hypothèse du spectre d'ondes planes de Hill pour un absorbant de forme parallélépipédique dont on connaît les propriétés électromagnétiques. L'absorption d'énergie est évaluée expérimentalement au moyen de l'estimation de la bande de cohérence

Recherche de méthodes expérimentales de simulation de canaux de propagation en chambre réverbérante à brassage de mode

L'objectif est de caractériser le canal en chambre réverbérante, de modéliser ce canal, en particulier pour des systèmes multi-antennes, et enfin de comparer ce canal à des cas concrets ou de démontrer l'application possible d'un tel canal dans une optique de test de systèmes de communication sans fil

SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools

International audienceThis paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools), provides a large variety of toolboxes to analyze the behavior and the control of the machine. The software takes into account several elements such as the exibility of bodies, the interaction between several axes, the effect of numerical control and the availability to reduce models

A Vision-based Computed Torque Control for Parallel Kinematic Machines

In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the only end-effector pose. It is shown that such an operation reduces the model complexity. Then, this approach uses a classical Cartesian space computed torque control with a fast exteroceptive measure, reducing the control schemes complexity. Simulation results are given to show the expected performance improvements and experiments prove the practical feasibility of the approach