ulg-skywin - multibody & mechatronic systems laboratory - mms
TRANSCRIPT
Rencontre SKYWIN – Université de LiègeMultibody & Mechatronic Systems Laboratory – MMS
Prof. Olivier Brüls – [email protected] - +32 4 366 91 84
Rencontre Pôle - Université de Liège
Exemple ou idée de projetModelling of mechanical systems for simulation, control and
optimization
8/11/2016
Robotics and mechatronics Deployable structuresHuman motion analysis
Compliant and self-deployable components
Control and manipulationHuman-robot cooperation
Innovative sensorsModel-based data analysis
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Project example 1: Numerical simulation– Collaboration with users and editors of simulation software (MULTI-PHI, DYNAWIND, EI-OPT, ORFI…)
– Focus on the developments of advanced numerical methods– System dynamics with flexible components and non-ideal joints– Unilateral contact dynamics– Multiphysics problems & control-structure interactions– Model reduction methods– Optimization methods
– Application fields– Deployable structures– Aeronautical mechanisms
(slats, flaps, landing gears)– Telescopes– Wind turbines
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Project example 2: Industrial robotics– Collaboration with users of robotics applications
(SQ_EQUIP, HFLE, ROBOTIX ACADEMY, FACTORY 4.0…)
– Focus on design, modelling, trajectory planning and control– Motion and vibration control– Collision detection and avoidance– Robust grasping and manipulation – Human-robot cooperation
– Application fields– Recycling lines– Manufacturing of composite parts– Innovative human-robot interface– …
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Robotics and automation lab– List of equipments
– ABB IRB 1400 robot arm (1990)– ABB IRB 120 robot arm (2015)– KUKA KR 16 robot arm (2006)– Siemens S7-1200 PLCs– Festo pneumatic bench– Planned investment: collaborative robot
– Robotix Academy project (2016-2020)– Network in the Great Region– Collaboration and technology transfer
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Human motion analysis lab– List of equipments (www.lamh.ulg.ac.be)
– 3D motion sensors (active markers vs IMUs)– 2D video systems– Force plates– Electromyography
– Collaboration between two faculties at ULg
– Activities in sport and medicine but also in other application areas, e.g., – tests on deployable structures– Control of robots based on human motion
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Summary of the expertise– Technical skills
– Mathematical modelling and numerical methods – System dynamics, mechatronics and control design– Experimental validation
– Wide range of engineering applications but specific experience in the fields of– Robotics and mechatronics– Human motion analysis– Deployable structures
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Team composition– Olivier Brüls (Professor – head of the research unit)
– Cédric Schwartz (Senior researcher – LAMH)– Vladimir Martinusi (Postdoc – model reduction)
– Juliano Todesco (PhD student – stochastic modelling)– Javier Galvez (PhD student – contact dynamics)– Arthur Lismonde (PhD student – robot control)– Asmaa El Khadri (PhD student – robot grasping)– Romain Van Hulle (PhD student – gait modelling)– Florence Dewalque (PhD student – deployable structures)
Rencontre Pôle - Université de Liège
Contact
Prof. Olivier Brüls
Allée de la Découverte 9 (B52), 4000 Liège, [email protected]+32.4.366.91.84
www.ltas-mms.ulg.ac.be
8/11/2016