Laboratoire de Conception Fabrication Commande (LCFC): Recent submissions

Now showing items 190-196 of 270

    • Experimental External Force Estimation Using a Non-Linear Observer for 6 axes Flexible-Joint Industrial Manipulators 
      Communication avec acte
      QIN, Jinna; LEONARD, François; ABBA, Gabriel (the Institute of Electrical and Electronics Engineers, 2013)
      This paper proposes a non-linear observer to estimate not only the state (position and velocity) of links but also the external forces exerted by the robot during Friction Stir Welding (FSW) processes. The difficulty of ...
    • Enabled virtual and collaborative engineering coupling PLm system to a product data kernel 
      Communication avec acte
      VAN WIJK, Dimitri; GUYOT, Emmanuel; EYNARD, Benoit; ccROUCOULES, Lionel; ccETIENNE, Alain (Editions Publibook Université, 2010)
      Nowadays, the use of digital modelling through multiple CAx systems becomes more and more unquestionable. It allows many benefits (3D, automations, simulations, etc.) in spite of the fact that those different systems are ...
    • A Novel Approach for Simplification of Industrial Robot Dynamic Model Using Interval Method 
      Communication avec acte
      WANG, Ke; LEONARD, François; ABBA, Gabriel (IEEE/ASME, 2014)
      This paper proposes a new approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities, some components of robot dynamic model such as the inertia matrix and the ...
    • Methodology for qualifying a Friction Stir Welding equipment 
      Communication avec acte
      ZIMMER-CHEVRET, Sandra; LAYE, Julien; GOUSSAIN, Jean-Claude; MARTIN, Patrick; ccLANGLOIS, Laurent (2008)
      The objective of this research work is the industrialization of the friction stir welding process in order to provide tools to industrials to select and qualify a machine for their FSW applications. This paper presents a ...
    • Quasi optimal sagittal gait of a biped robot with a new structure of knee joint 
      Article dans une revue avec comité de lecture
      HOBON, Mathieu; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (Elsevier, 2013)
      The design of humanoid robots has been a tricky challenge for several years. Due to the kinematic complexity of human joints, their movements are notoriously difficult to be reproduced by a mechanism. The human knees allow ...
    • Nonlinear Discrete Observer for Flexibility Compensation of Industrial Robots 
      Communication avec acte
      QIN, Jinna; LEONARD, François; ABBA, Gabriel (Elsevier/International Federation of Automatic Control, 2014)
      This paper demonstrates the solutions of digital observer implementation for industrial applications. A nonlinear high-gain discrete observer is proposed to compensate the tracking error due to the flexibility of robot ...
    • Optimal Walking of an Underactuated Planar Biped with Segmented Torso 
      Communication avec acte
      CHEN, Zhongkai; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (SciTePress, 2014)
      Recently, underactuated bipeds with pointed feet have been studied to achieve dynamic and energy efficient robot walking patterns. However, these studies usually simplify a robot torso as one link, which is different from ...