Regelung flexibler Mehrkörpersysteme mit Umgebungskontakt
Funktionsübersicht des neuen flexiblen Leichtbauroboters Flexor:
Experimentelle Ergebnisse ausgewählter Konzepte angewendet auf den Flexor:
Experimentelle Ergebnisse an der Lambda Kinematik:
Control of Flexible Multibody Systems with Contact to the Environment
Model of a lambda-kinematics machine with a kinematic loop (drives KML).
Simulation environment of the elastic multibody system of a lambda-kinematics machine & Overview poster for Control of Flexible Multibody Systems (click here for PDF in German).
For control it is not meaningful to use finite element models with a large number of degrees of freedom. Therefore, these finite element models are transformed to models with significantly fewer degrees of freedom by means of model reduction methods. The reduced bodies are then integrated into the multibody system by using the method of the floating frame of reference.
The developed concepts are tested experimentally on a flexible lambda-kinematics machine, which has been developed in cooperation with the Institute of Engineering and Computational Mechanics at the University of Stuttgart over the last years.
Lambda-kinematic test rig for the investigation of control concepts for flexible multibody systems.
In this setup significant friction effects, that occur in the movers, need to be compensated. Therefore, model and non-model-based techniques are combined and integrated into the cascade control of these movers. Besides, a curvature controller, which feeds back the curvature velocity of the long and highly elastic arm, has been developed to offer the possibility to rapidly dampen oscillations (see video).
The presented project offers a unique combination of mechanics, control technology and lightweight robotics. Powerful tools, like flexible multibody systems, the finite element method, exact model inversion, etc. are used. Various software-tools are utilized for modelling and simulation (e.g. Ansys/Matlab/Simulink). An objective is also to experimentally validate the models, simulations and designed controllers.
If you have any questions, or are interested in writing a student thesis in the field of Control of Flexible Multibody Systems, feel free to contact us:
The Project is funded by Deutscher Forschungsgemeinschaft (DFG / SE1685-3/2).