Jean-François Brethé

Université du Havre · ISEL Institut Supérieur d'Etudes Logistiques

Cloud computing revealed recently to be of great interest in robotics. Indeed, it provides on-demand and elastic computing resources, database storage, and applications over the internet. These are major assets to improve robots' computational and cognitive capabilities, and share knowledge among the international robotic community. In this context...

In this paper, an adaptive and versatile robotic grasping system is presented that is able to manipulate manufactured objects in production factories with a 2-finger gripper. A pick and place scenario based on deep learning framework is implemented and is achieved based on the following main steps: detection of the manufactured objects in the globa...

Nowadays, robots are indispensable in industry, especially logistics industry, to replace human employees performing heavy lifting tasks. Introducing robots prevents musculoskeletal disorders that are common in ageing workforce. We designed and implemented a dual arm robot to grasp cardboard boxes of different dimensions using a hydrid force/positi...

The grasp of an object from a specific location, its handling and delivery in a well-defined working environment require knowledge concerning both manipulators and mobile robots. The positioning of a robot arm with the object involved in the mobile manipulation requires the calculation of the pre-grasp configurations as well as that of the selected...

We present in this paper a Fuzzy Logic Controller (FLC) combined with a predictive algorithm to track an Unmanned Ground Vehicle (UGV), using an Unmanned Aerial Vehicle (UAV). The UAV is equipped with a down facing camera. The video flow is sent continuously to a ground station to be processed in order to extract the location of the UGV and send th...

Abstract. The Internet is a significant resource for information, communication and capabilities or services. An obvious next step is to share this resource with artificially intelligent software and hardware. Therefore, the robots should be able to benefit massively of this resource which is nearly infinite in the cloud. Actually, the cloud has po...

We present in this paper a novel warehouse inventory scheme. The main purpose of this work is to make the inventory process completely autonomous. To this end, an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicle (UAV) work cooperatively. The UGV is used as the carrying platform, and considered as a ground reference for the indoor flight...

Abstract—The evolution of robotics shows the growing interest of introducing robots in different fields like manufacturing technology, medicine, agriculture, household etc. Recently, the development of internet and new technologies have been involved, at a high rate, to produce a kind of robots that can perform complex tasks in their environments au...

We present in this paper the preliminary results of an area inspection using a swarm of Unmanned Aerial Vehicles. The map of the inspected area is processed to extract navigable zones. After selecting Points Of Interest (POI) in the image of the inspected area, a seperate navigation path is extracted for each UAV. The UAVs follow the given path usi...

This paper deals with the singularity analysis of a planar robotic manipulator and its application for an XY-Theta platform. This platform has a patented kinematics designed to keep the final position error below 2 μm in its workspace. But as the high precision performances are due to the proximity of singularities, some drawbacks such as high join...

Notre projet de doctorat explore le domaine du Cloud Robotics en particulier l’exploitation des technologies de l’internet dans le domaine de la robotique. Nous proposons une solution Cloud Robotics pour le picking dans le e-commerce.

le travail consiste a proposer une solution logicielle pour le cloud robotics

We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and rol...

This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the...

This paper is about the precision performance evaluation of an XY-theta platform, with a patented kinematic design. Indeed, this platform is held by a serial redundant robot arm actuated with four revolute joints. The platform offers a wide 300 × 300 mm workspace, whereas the whole mechanism is extremely compact. Any workpiece on the platform can b...

This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-inthe-loop to provide waypoints for the g...

We present in this paper a decentralized multi-robot (aerial and ground) cooperation scheme for objects trans-portation. A team of ground mobile robots guided by a drone and a human operator moves in a coordinated way keeping a predefined formation in order to carry objects (tools, gas masks,...) in unsafe industrial areas. One ground mobile robot...

We present in this paper a decentralized multi-robot (aerial and ground) cooperation scheme for objects trans-portation. A team of ground mobile robots guided by a drone and a human operator moves in a coordinated way keeping a predefined formation in order to carry objects (tools, gas masks,...) in unsafe industrial areas. One ground mobile robot...

We present a decentralized control architecture for an heterogeneous group of mobile robots made of one Unmanned Aerial Vehicles (UAV) and several Un-manned Ground Vehicles (UGVs) performing collab-orative tasks (area inspection, object transportation, etc...). The UAV is used to help a human operator to supervise and guide a group of UGVs by provi...

The disclosure relates to a robot that has an articulated arm for moving an end in an N-dimensional space including at least N+1 motorized articulations, and a computer for controlling the movements of the motorized articulations. The computer controls a first step of prepositioning the terminal end of the articulated arm and a second step for its...

Precision is an important issue in robotics. It can be improved by different means. The paper examines how a strategy based on external sensors and a precision stochastic modeling can be built to reduce the final position error. Therefore, the key features of the granular stochastic modeling based on both spatial resolution and joint repeatability...

This paper presents a XY-Theta micrometric platform, which is extremely compact and offers a wide 300 x 300 mm workspace. This platform is held by a serial kinematic chain of four revolute joints, constituting a redundant robot. Each point of the horizontal platform can be positioned under a vertical axis in a two-step approach: in a coarse positio...

This paper presents a XV-theta micrometric platform, which is extremely compact and offers a wide 300×300 mm workspace. The novelty is that the platform is hold by a serial kinematic chain of four revolute joints, constituting a redundant robot. Each point of the platform can be positioned under a vertical axis with a final error less than two μm i...

This paper is a contribution to the debate as to whether parallel robots are more precise than serial robots. To answer this question, the repeatability performances of three pairs of serial and parallel robots are compared with regard to several different criteria. The first pair is built from revolute actuated joints; the second and third pair fr...

the target is to define an architecture for the picking in cloud computing

Robot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe robot behaviour at the micrometre scale. New, precision performances are discussed and the experimental procedure to estimate these indices is described. The main results of the experimental work performed...

Robot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe the robot behavior in the micrometer scale. New precision performances are proposed and the experimental procedure to estimate these indices is described. The main results of the experimental work performe...

The paper aims at modeling and quantifying robot precision when it is possible to obtain information from external sensors in the operating area. The author proves that in this situation, neither the pose repeatability, nor the pose accuracy are adequate to calculate the maximum position error. A new paradigm is then proposed: granulous space model...

n this paper, the author proposes a new method to design SCARA robots for higher repeatability. First, the author outlines various procedures used in optimal robot design and then points out among the various performance indices those related to repeatability. The author adds some new criteria issued from the stochastic ellipsoid theory. Another in...

The paper presents innovative kinematics and control of a planar redundant robot designed to improve spatial resolution by a factor 5. This result is obtained in a restricted area of the workspace using position information from external sensors. This innovation results from a clearer understanding of the factors that influence the robot micrometri...

The paper proposes a new procedure to compare the repeatability of serial and parallel robots based on the stochastic ellipsoid theory. The ISO9283 position repeatability index is estimated but also other performance criteria built upon the stochastic ellipsoid geometrical characteristics. The choice of the best comparison criterion is investigated...

In this paper, a new method for the estimation of orientation repeatability index is proposed for industrial manipulator robots. First, we compute orientation repeatability in different locations of the workspace using the experimental covariance matrix and the stochastic ellipsoid modeling. Then we display experimental results about the direct mea...

The paper deals with the question of robot precision and how to characterise repeatability. Hence ISO and ANSI repeatability indexes advantages and drawbacks are analysed. A new intrinsic repeatability index is proposed that can estimate the robot endpoint position variability satisfying the non-bias and convergence conditions. Computation of this...

We study the statistical relationship between angular position and target for industrial robots on a micrometric scale and this leads us to understand the angular position stochastic structure. The concept of granular angular space is introduced and transposed in the Cartesian space. Modeling is based on experimental work performed for a Kuka and a...

The paper investigates the local micro-metric positions of industrial robots in the case of repeated moves. A new stochastic approach is developped introducing risk ellipsoid. The theory is detailed and then applied to a SCARA robot. To understand the local stochastic structure in the vicinity of an ellipsoid, we study the angular position from a s...

A stochastic ellipsoid modelling of repeatability is proposed for industrial manipulator robots. The covariance matrix of angular position is determined introducing the jump process, which reveals to be a first and second order stationary Gaussian process. From this accurate covariance matrix, the stochastic ellipsoid theory gives the density of po...

In this paper, we display experimental results about the measurement of repeatability of an industrial Kuka robot. We first study the distributions of the angular positions and show that these distributions can be considered as Gaussian. We compute repeatability in different locations of the workspace using the experimental angular covariance matri...

Most industrial manipulator robots are used in assembly tasks. Their manufacturers use repeatability parameters to show their effectiveness. IS09283 standard details the process of measuring repeatability. As loads, speed and other various factors affect repeatability, a high number of experimental trials are needed to obtain significant values. Mo...

In this paper, we display experimental results about the measurement of repeatability of an industrial Kuka robot. We firststudythe distributions of the angular positionsandshowthat these distributionscan be consideredas Gaussian. Wecomputerepeatabilityindifferentlocationsoftheworkspaceusingtheexperimentalangular covariancematrix and the stochastic...

Th is paper describes the virtual assembly automation systems, as decision support systems, for the better knowledge of assembly operation. The study of this procedure is described as well as the necessity for assembly systems design. The work draws on research into product and manufacturing knowledge models, and uses a case study based on a simpli...

In this paper the authors relate to the robotic systems to avoid the obstacles while positioning end-effectors. A new strategy to on-line collision-avoidance of the redundant robots with obstacles is presented. The strategy allows the use of redundant degrees of freedom such that a manipulator can avoid obstacles while tracking the desired end-effe...

This paper describes the virtual assembly automation systems, as decision support systems, for the better knowledge of assembly operation. The study of this procedure is described as well as the necessity for assembly systems design. The work draws on research into product and manufacturing knowledge models. In this paper, the authors have proposed...