Modélisation et commande d'un robot à deux bras pour la saisie de boîtes en carton dans les entrepôts logistiques

In logistics warehouses, the robotic handling of cardboard boxes, the basic components of pallet packaging, is carried out almost exclusively by one anthropomorphic robotic arm fitted with gripper or suction cups. However, the human operators who perform these tasks generally use their two arms and are much more versatile when it comes to gripping the wide variety of packages present. In this context, an innovative method of robotised parcel gripping is proposed based on a humanoid torso (CROM) equipped with two cobotic arms (UR10). The solution aims to reproduce the handling dexterity of a human operator. The design and modelling phases are detailed, as is the description of an innovative optimised position-Force/Position control law.