LAMIH seminar "Modeling and robust control of flexible robotic systems - the case of cable robots with non-straight cables".
As part of the scientific animation of the automatic department of LAMIH, a seminar will be held by Edouard Laroche, Professor at the University of Strasbourg.
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Le 26/01/2023
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15:30 - 16:30
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Seminar
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Mont Houy Campus
Claudin Lejeune Building 1
Amphi E1
Summary: Cable robots are composed of a pod moved by means of cables wound at their attachment points. In the simplest designs, the cables are assumed to be straight and massless. Here, the mass of the cables and their transverse deformation in the plane of motion will be taken into account. The case of a plane robot with 3 cables will be taken as an example. The deformations of the cables are integrated into the model according to the method of assumed modes and the model is obtained by the Lagrange equations with multipliers from the kinematic constraints. Since attempts to use the algebraic-differential equations directly (DAE model) failed to provide a controllable and observable synthesis model, a change of variable was used to reduce to an ODE model which allowed for H-infinite synthesis with standard tools.
Bio: Edouard Laroche is a professor at the University of Strasbourg, attached to the ICube laboratory. His research concerns the development of methodologies for the identification and robust control of mechatronic systems: drones, robotic systems, cable robots...
Biographie
Edouard Laroche est professeur à l’Université de Strasbourg, rattaché aux laboratoire ICube. Ses recherches concernent le développement de méthodologies pour l’identification et la commande robuste de système mécatroniques : drones, systèmes robotiques, robots à câbles...