Problèmes géométriques et analyse de trajectoire de robots parallèles

Parallel robots appeared as flight simulators and then in industry because their architecture is more rigid than that of serial robots, allowing much higher rates. The research is now on their application as a machine tool. Their direct geometric model requires solving nonlinear equations. The introduced method is based on Gröbner's foundations and a system equivalent to a single variable. In addition, we are looking for a tool running in real time for implementation in the order. Therefore, we study the implementation of an interval-certified digital iterative method based on a convergence theorem and we use the Newton method to calculate the solution. Thus, we discuss the feasibility of a machining task. A parallel robot simulator is thus prepared in a machining situation. The criterion reflecting the surface finish of the workpiece is reformulated. For a given path, the impact of an architecture, a configuration, the sensors and the command is determined. A trajectory certification method is added that determines if the command can follow a nominal trajectory.