[en] This thesis studies innovative, stable but non-causal inverse dynamics algorithms for flexible manipulators. Robust direct optimal control methods are proposed. The nonlinear finite element method is used to derive the mechanical model of the multibody system and the time discretization is performed using the generalized-alpha method. The sparse gradients of the optimization constraints are computed using a semi-analytical method. The inverse dynamics of both serial and parallel kinematic manipulators with flexible links and joints is successfully studied using the proposed method. Finally, the possible extension of the method for the integrated control/structure optimization of mechatronic systems is investigated.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Guimaraes Bastos Junior, Guaraci ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Language :
English
Title :
Contribution to the Inverse Dynamics of Flexible Manipulators
Defense date :
27 June 2013
Institution :
ULiège - Université de Liège
Degree :
Doctorat en sciences de l'ingénieur
Promotor :
Bruls, Olivier ; Université de Liège - ULiège > Département d'aérospatiale et mécanique
President :
Duysinx, Pierre ; Université de Liège - ULiège > Aérospatiale et Mécanique (A&M)
Jury member :
Kerschen, Gaëtan ; Université de Liège - ULiège > Aérospatiale et Mécanique (A&M)
Louveaux, Quentin ; Université de Liège - ULiège > Montefiore Institute of Electrical Engineering and Computer Science