{"id":3270,"date":"2024-04-18T16:33:09","date_gmt":"2024-04-18T15:33:09","guid":{"rendered":"https:\/\/www.macerobotics.com\/?p=3270"},"modified":"2024-04-18T16:33:09","modified_gmt":"2024-04-18T15:33:09","slug":"cest-quoi-la-compliance-en-robotique","status":"publish","type":"post","link":"https:\/\/www.macerobotics.com\/?p=3270","title":{"rendered":"C&#8217;est quoi la compliance en robotique ?"},"content":{"rendered":"<h2><strong>D\u00e9finition de la compliance<br \/>\n<\/strong><\/h2>\n<p>Source de cette d\u00e9finition : <a href=\"https:\/\/projetromeo.wordpress.com\/interaction-physique\/gestion-de-la-compliance\/\">https:\/\/projetromeo.wordpress.com\/interaction-physique\/gestion-de-la-compliance\/<\/a><\/p>\n<p><em>&#8220;La compliance est la capacit\u00e9 du robot \u00e0 adapter la rigidit\u00e9 de ses gestes pour prendre en compte des efforts qui lui sont appliqu\u00e9s. La compliance peut \u00eatre passive (la m\u00e9canique du robot est flexible et se d\u00e9forme quand on exerce un effort dessus) ou active (la m\u00e9canique du robot est rigide mais le logiciel d\u00e9tecte les efforts appliqu\u00e9s dessus et pilote les moteurs pour accompagner ses efforts).&#8221;<\/em><\/p>\n<h2>Pourquoi la compliance ?<\/h2>\n<p>La compliance apporte de la souplesse, \u00e9lasticit\u00e9 aux bras robotique pour interagir plus facilement dans un environnement avec les humains ou pour des taches n\u00e9cessitant de la souplesse pour amortir les efforts sur une pi\u00e8ce m\u00e9canique par exemple, ou encore pour manipuler des objets fragiles comme une pomme !<\/p>\n<p>Un robot humano\u00efde dans une maison par exemple doit \u00eatre <strong>compliant<\/strong> afin d&#8217;interagir en toute s\u00e9curit\u00e9 avec les humains. Au contraire des robots industriels (bras robotique) qui sont tr\u00e8s rigides et donc tr\u00e8s dangereux.<\/p>\n<p>Exemple :<\/p>\n<div class=\"ttfmake-embed-wrapper aligncenter\" style=\"max-width: 960px;\"><iframe loading=\"lazy\" title=\"Robot compliant motion - various modes\" width=\"960\" height=\"540\" src=\"https:\/\/www.youtube.com\/embed\/glYbCQ1FSBY?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/div>\n<p>Il existe plusieurs solutions techniques afin d&#8217;apporter de la compliance \u00e0 un robot :<\/p>\n<ul>\n<li><strong>De fa\u00e7on logicielle (compliance active)<\/strong> : contr\u00f4le du couple\n<ul>\n<li>Mesure du courant du moteur, capteur de force, &#8230;<\/li>\n<\/ul>\n<\/li>\n<li><strong>Ou une solution mat\u00e9rielle (compliance passive)<\/strong> : mat\u00e9riaux flexible, ressort, &#8230;<\/li>\n<\/ul>\n<p>FIN<\/p>\n","protected":false},"excerpt":{"rendered":"<p>D\u00e9finition de la compliance Source de cette d\u00e9finition : https:\/\/projetromeo.wordpress.com\/interaction-physique\/gestion-de-la-compliance\/ &#8220;La compliance est la capacit\u00e9 du robot \u00e0 adapter la rigidit\u00e9 de ses gestes pour prendre en compte des efforts qui lui sont appliqu\u00e9s. La compliance peut \u00eatre passive (la m\u00e9canique du robot est flexible et se d\u00e9forme quand on exerce un effort dessus) ou &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[46],"tags":[],"class_list":["post-3270","post","type-post","status-publish","format-standard","hentry","category-robot"],"_links":{"self":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/3270","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3270"}],"version-history":[{"count":5,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/3270\/revisions"}],"predecessor-version":[{"id":3278,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=\/wp\/v2\/posts\/3270\/revisions\/3278"}],"wp:attachment":[{"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3270"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3270"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.macerobotics.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3270"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}