Parole d’expertDes robots liégeois à la conquêtedu mondeBernard Boigelot - ULg - Institut MontefioreOlivier Brüls - ULg - ...
Avec le soutien de :
Quelques activités de recherche en         robotique à lʼULg             Prof. Olivier BRÜLS       Systèmes Multicorps et ...
Multibody & Mechatronic SystemsØ  System approach in mechanical applicationsØ  Numerical methods: modelling, control & o...
Research topics in robotics   Flexibility of robot structural components   Ø  Modelling   Ø  Control design   Ø  Optimi...
Modelling mechatronic systemsØ  Finite element approach developed since 1985 for flexible    multibody systemsØ  Integra...
Modelling mechatronic systems                   Detailed             FinalPre-design                                      ...
Control of flexible robots: Samii & FlexCell                                   Pick & place machineRobot on a flexible sup...
Control of flexible robots Control/structure interactions are avoided if                                          typical ...
Control design: Ralf            Collaboration with Georgia Tech                          Real-time model of the flexible r...
Control design: Ralf             Model-based motion and vibration control                 Fast control off       Fast cont...
Optimal control: Adept Quattro                                20-g acceleration                                Collaborati...
OptimizationClassical topology optimization:Equivalent static-load approach:Flexible MBS approach:
Emerging area: Medical applications            RheoKnee                            Rewalk                     Laboratory o...
SummaryDetailed models in robotics are useful for   Ø  mechanical design verification and optimization,   Ø  advanced mo...
Merci de votre attention !   Quelques activités de recherche en robotique à lʼULg                      Olivier BRÜLS      ...
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Ingénierie | Des robots liégeois à la conquête du monde par Olivier Brüls | Liege Creative, 06.12.11

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Depuis quelques années, une équipe d'étudiants et de chercheurs de l'Université de Liège participe au concours international Eurobot, visant à construire un robot mobile entièrement autonome capable d'affronter un adversaire dans un jeu aux règles complexes.

Cet exposé présente le robot Wilbur construit à l'ULg dans le cadre du concours Eurobot et donne un aperçu de ses capacités. Il est suivi d'une présentation des activités de recherche entreprises à l'ULg dans le domaine de la modélisation et du contrôle de systèmes robotisés, et d'une illustration de quelques applications émergentes.

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Ingénierie | Des robots liégeois à la conquête du monde par Olivier Brüls | Liege Creative, 06.12.11

  1. 1. Parole d’expertDes robots liégeois à la conquêtedu mondeBernard Boigelot - ULg - Institut MontefioreOlivier Brüls - ULg - LTAS
  2. 2. Avec le soutien de :
  3. 3. Quelques activités de recherche en robotique à lʼULg Prof. Olivier BRÜLS Systèmes Multicorps et Mécatroniques Département Aérospatiale et Mécanique Séminaire Liège Créative Le 6 décembre 2011
  4. 4. Multibody & Mechatronic SystemsØ  System approach in mechanical applicationsØ  Numerical methods: modelling, control & optimization
  5. 5. Research topics in robotics Flexibility of robot structural components Ø  Modelling Ø  Control design Ø  Optimization
  6. 6. Modelling mechatronic systemsØ  Finite element approach developed since 1985 for flexible multibody systemsØ  Integrated control / FEM analysis Actuators Sensors Collaboration with LMS Samtech (SAMCEF-MECANO) & Open Engineering (OOFELIE)
  7. 7. Modelling mechatronic systems Detailed FinalPre-design Tests design verification MBS Control Structural mechanics Contact Multiphysics interactions Why using detailed models? Ø  Performance analysis Ø  Dynamic load evaluation Ø  Final design verification With courtesy of SAMTECH
  8. 8. Control of flexible robots: Samii & FlexCell Pick & place machineRobot on a flexible support Collaboration with KULeuvenCollaboration with Georgia Tech
  9. 9. Control of flexible robots Control/structure interactions are avoided if typical value: Consequences: Ø  limitation of the motion bandwidth Ø  stiff (and heavy) mechanical design requirement ⇒  Motion and vibration control is required for high-speed and lightweight applications
  10. 10. Control design: Ralf Collaboration with Georgia Tech Real-time model of the flexible robot
  11. 11. Control design: Ralf Model-based motion and vibration control Fast control off Fast control on Simulation Experiment
  12. 12. Optimal control: Adept Quattro 20-g acceleration Collaboration with LIRMM, Fatronik, KULeuven Reduced model Model-based optimal control (feed-forward)
  13. 13. OptimizationClassical topology optimization:Equivalent static-load approach:Flexible MBS approach:
  14. 14. Emerging area: Medical applications RheoKnee Rewalk Laboratory of Human Motion Analysis at ULg Manus chair Da Vinci surgical robot
  15. 15. SummaryDetailed models in robotics are useful for Ø  mechanical design verification and optimization, Ø  advanced model-based control, Ø  performance analysis and optimization,especially for high-speed and lightweight applications.New modelling tools are now needed for robots in closeinteractions with the environment and the user: Ø  contact and manipulation, Ø  teleoperation and comanipulation, Ø  assistive and therapeutic robots, Ø  etc.
  16. 16. Merci de votre attention ! Quelques activités de recherche en robotique à lʼULg Olivier BRÜLS Département Aérospatiale & Mécanique

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