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International audience; This article presents the design and modeling of a new aerial manipulator system, called Q-PRR, composed of three joints with a fixed base in the center of mass of the multirotor considered as a whole system. This structure has a prismatic joint as a first joint which allows to keep the center of gravity of the Q-PRR as close as possible to the center of gravity of the multirotor. This will also allow to reduce the influence of arm motion on the multirotor roll thus to ensure the stability of the system on trajectory tracking with dynamic changes in the multirotor’s center of gravity. Furthermore, the configuration of the manipulator arm for the desired position of the end-effector given by the inverse kinematics model is kept without any change in the position and attitude of the multirotor. This article develops both forward and inverse kinematics models for a nonlinear underactuated system using the Denavit–Hartenberg notation. When a new algorithm is presented for the inverse kinematics based on Levenberg–Marquardt algorithm. Then, the dynamic model in the joint spaces is developed with the Lagrangian formalism. The Q-PRR is controlled using a model-free control with a comparison of two states, a free fly and disturbance forces applied to the whole system with manipulator arm movement.

International audience; The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult when the number of crossing points is very large. Programming by demonstration gives a better opportunity for solving this problem by tracking the user s movements with a motion capture system and creating a robotic program to reproduce the performed tasks. This paper presents a programming by demonstration system in a trajectory level for the reproduction of hand/tool movement by a manipulator robot; this was realized by tracking the user s movement with the ArToolkit using a normal camera (low cost) and reconstruct the trajectories by using the constrained cubic spline, which gives better results comparing the conventional cubic spline interpolation. And finally the obtained trajectories will be simulated in a virtual environment on a robot (Puma 600) based on a computed torque controller.

International audience; This paper presents a new designation and classification of system with UAV and robot manipulator where a new nomenclature is recognized as being the first contribution in the bibliography of design and systems. Several papers deal a problem of manipulation with a different unmanned aerial vehicle, robot arms and also with different naming of their systems, where the difficulty for locate and finding items and a good paper with its title or even by keywords, multirotor equipped with n-DoF robotic arm is the expression among the most widely used to describe that system. Aerial manipulation formula is presented and proved with a large example in the literature.

The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult (if not impossible) when the number of crossing points is very large. MoCap (Motion capture) systems and by using different technologies of movement tracking allows us to have a good tracking in terms of accuracy and number of captured frames in time(depending on the used techniques). The motion capture data have to be interpolated to guarantee a good trajectory reconstruction; we have used two types of interpolation: the cubic spline interpolation and the constrained cubic spline. The obtained results shows that the constrained cubic spline interpolation gives good reconstruction of the movement. The reconstructed movement have been simulated on a puma 560 robot using the robotics toolbox.

International audience; This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control.

International audience; This paper is focused on modeling and control of quadrotor; first modeling of moments and torque, second is of rotor, the result is the complete dinamincs of UAV. mathematical model is presented for a general study with disturbance and we take account all parameters of control. the PID controller is presented without disturbance in dynamics equation for a linear model, where we can used in the control of a group of quadrotors for obstacle avoidance, and a group of quadrotors with a rigid and flexible links for transporting payloads in the free environment. finaly our results is simulated in the simulink and the virtual reality environment.

In this paper, an AR (Augmented reality) system based on a multimodal user interface is proposed and its core techniques are described. The objective of this work is to realize certain task that operators can use the virtual robot to ameliorate the interaction with the real world using AR environment. VC++ and OpenGL are used to create this application.AR applications (ARToolKit) is used to detect the real-time position and orientation of camera and to facilite the operator’s observation and operation. Experiments prove that the system is reliable and efficient. Simulation result is obtained and it is very useful for designers to ameliorate the interaction with the real world.

International audience; This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobilerobots. The main object of the control algorithms developed is to design a robust output tracking controller.The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicyclelikemobile robot is used to provides the desired values of the linear and angular velocities for the giventrajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the trackingerrors. Simulation and experimental results show the effectiveness of the proposed robust controller in termof accuracy and stability under different load conditions.

The strong dependence of the computed torque control of dynamic model of the robot manipulator makes this one very sensitive to uncertainties of modelling and to the external disturbances. In general, the vector of Coriolis torque, centrifugal and gravity is very complicated, consequently, very difficult to modelled. Fuzzy Logic Controller can very well describe the desired system behavior with simple “if-then” relations owing the designer to derive “if-then” rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy). This paper presents the control of puma 600 robot arm using Adaptive Neuro Fuzzy Inference System (ANFIS) based computed torque controller (type PD). Numerical simulation using the dynamic model of puma 600 robot arm shows the effectiveness of the approach in improving the computed torque method. Comparative evaluation with Fuzzy computed torque (type PD) control is presented to validate the controller design. The results presented emphasize that a satisfactory trajectory tracking precision and stabilility could be achieved using ANFIS controller than Fuzzy controller. Keywords : Fuzzy computed torque control, Robot control, Adaptive neuro-fuzzy inference system (ANFIS).

In this paper we present the simulation and manipulation of teleoperation system for remote control of mobile robot using the Virtual Reality (VR). The objective of this work is to allow the operator to control and supervise a unicycle type mobile robot. In this research we followed three ways: The use of articulated robotic mobile on the Web, the design of remote environment for the experimentation using the network for the mobile robot and the architecture of control is proposed to facilitate the piloting of the robot. This work proposes a hardware and software architecture based on communication and information technologies to control the virtual robot to improve the control towards the remote robot. A path planning method is integrated to the remote control system. Results show the real possibilities offered by this manipulation, in order to follow a trajectory of the robot and to create applications with a distance access to facilities through networks like the Internet and wireless.