Flexible Multibody System Analysis for Control Purposes - Roster

All lectures will take place in Regardz La Vie, Utrecht. Lecure hours are on 8 successive Mondays (September 7 till October 26) from 10:15-11:15 and 11:30-12:30. The overview below gives the detailed schedule for the topics addressed during these lectures. It includes references to the course material. Abbreviations are explained at the bottom.

Week

Date, lecturer(s), topics

Notes

Slides

1

September 7, 2009

 

 

RA:

General overview and scope of this course

CO

Slides CO

 

BJ:

Some mathematical notations

DoM Chapter 2

Slides DoM/0-3

 

BJ:

Multibody versus finite element formulations

DoM Chapter 3 to 4.3.1

Slides DoM/4-14 and 22+23

 

RA:

Introduction SPACAR software 1 - Getting started

PM Chapter 1

Slides SP-1

2

September 14, 2009

 

 

BJ:

Kinematic analysis of planar multibody systems

DoM Chapter 4, 5

Slides up to DoM/45

 

RA:

Introduction SPACAR software 2 - 2D kinematic analysis

PM Chapter 2

Slides SP-2

Exercise 1 (part 1/2) - Planar kinematic analysis

 

 

3

September 21, 2009

 

 

BJ:

Dynamic analysis of planar multibody systems.

DoM Chapter 6

Slides DoM

 

RA:

Introduction SPACAR software 3 - 2D dynamic analysis

PM Chapter 3

Slides SP-3

Exercise 1 (part 2/2) - Planar dynamic analysis

Hand in September 28, 2009

4

September 28, 2009

 

 

BJ:

Spatial kinematics and dynamics of multibody systems.

DoM Chapter 9, 10

Slides DoM

 

RA:

Introduction SPACAR software 3 - 3D robot with feedback control

PM Chapter 4

Slides SP-4

5

October 5, 2009

 

 

BJ:

Linearization of equations of motion

DoM Chapter 12.1-12.5

Slides DoM

 

 

- Derivation of the mass, damping and stiffness matrices

 

 

 

RA:

Efficient simulations with the perturbation method

DoM Chapter 12.6
LP-1 and 2

Slides LP

 

RA:

Introduction SPACAR software 4 - 3D robot with feedback control (part 2)

SP Chapter 3.11, 3.12

Slides SP-5

Exercise 2 - Simulation of a manipulator with control using with non-linear linearized system equations

Hand in October 26, 2009

6

October 12, 2009

 

 

RA:

Input-output representation for control synthesis in multbody system dynamics

DoM Chapter 12.3

 

 

 

- Derivation of the system, input, output and direct feedthrough matrices

ES

 

 

 

Derivation of transfer functions, pole-zero cancellation

ES

Slides ES

 

 

 

7

October 19, 2009

 

 

JD:

Modelling for mechatronic design (part 1): Exact constraint design considerations and higher order dynamics

 Paper M4M

Slides M4M

 

 

- SISO example of an active encoder head

 

 

Exercise 3 (part 1/2) - Example system (simple)

 

8

October 26, 2009

 

 

JD:

Modelling for mechatronic design (part 2): Control system synthesis

 Paper M4M2

Slides M4M2

 

 

- MIMO example of a 2-DOF tilting mirror

 

 

Exercise 3 (part 2/2) - Example system (extended)

Hand in November 9, 2009

 

Used abbreviations:

Lecturers:

BJ = Prof. Jonker.

RA = Dr. Aarts.

JD = Dr. van Dijk.

Course material (notes):

CO = Course overview.

DoM = Lecture notes.

PM = Prototype modelling of mechanical systems.

SP = SPACAR manual.

LP-1 and LP-2 = papers on the perturbation method.

ES = (revisited) ECCOMAS conference paper.

M4M = paper on modelling and mechatronica design.

The exercises are included with the course material.

Course material (slides):

CO = Slides course overview, dr. Aarts, series 1

DoM = Slides prof. Jonker

SP= Slides about SPACAR, series i (i=1-5)

LP = Slides about the perturbation method, dr. Aarts.

ES = Slides about the derivation of transfer functions, dr. Aarts.

M4M = Slides about mechatronic design, dr. van Dijk.