Thesis Scientific Computing

anonymous@undisclosed.example.com (Anonymous) — Sun, 24 Dec 2023 15:09:00 +0000

Thesis Scientific Computing

2022, the year when I defended my Thesis, “Multi-body modeling of robot dynamics and system identification during MPC”, in Scientific Computing. The updated translation of the poem can be found here.

Abstract

Due to external influences over parameters that characterize dynamical systems, an online parameter estimation must be added as part of model predictive control strategies. In this thesis, we show how continuous parameters estimation, using inverse dynamics, can be used for identifying the inertial parameters (mass, inertia, and center of mass) of multi-body systems as part of an adaptive control strategy. For this, a Featherstone spatial algebra equivalent model, based on screw theory was used. The system identification was done using a linear least squares approach using the Recursive Newton-Euler Algorithm as a way of implementing a generic solution. The process is for open-loop robots and is tested using an optimal control algorithm based on multiple shooting.

𝐶𝑎𝑟𝑎𝑚𝑖𝑧𝑎𝑟𝑢'𝑠 𝐵𝑙𝑜𝑔 blog:2023:08

Thesis Scientific Computing

Thesis Scientific Computing