U.S.-France Cooperative Research: The Modeling and Control of High Performance Mechanical and Robotic Systems

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This three-year award supports U.S.-France cooperative research in mechanical engineering between Steven Dubowsky of the Massachusetts Institute for Technology and Jean- Claude Guinot of the Laboratory for Robotics, Pierre and Marie Curie University, Paris, France. The objective of their research is to develop a series of accurate, integrated dynamic models and analytical tools for the design of high performance, high speed mechanical and robotic systems. These models will provide insights into the nature of degrading behavior in advanced, high speed systems and could provide a foundation for predicting a system's problems. The investigators will also develop control algorithms for highly flexible robotic manipulators. Dr. Dubowsky brings to this collaboration expertise in the development of methods for modeling the spatial dynamics and control of high performance mechanical systems. He has developed new control algorithms for robotic manipulators. This is complemented by the French investigators' contributions in the area of spatial kinematics of complex mechanical systems. They have developed extensive experimental capability in the areas of manipulators and integration of sensors and computation for real time control. This project will advance our understanding of design and control of high performance mechanical systems. It will result in a predictive model and effective control algorithms for degradation problems and improved robotic systems.