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报告时间：11月23日（星期一）16:00 报告地点：信息楼自动化学院310报告厅 ZOOM（会议ID：945 5105 4232，密码：623089） 报 告 人：Andres Kecskeméthy，德国杜伊斯堡-埃森大学 （University of Duisburg-Essen, Germany）教授 报告题目：Object-oriented design methods for fast multibody dynamics and application to control of robots 内容简介：The course describes a theoretical and computational framework for generating the dynamical equations of multibody systems using simple motion and force transmission functions. The covered fields are: (a) open-tree systems, (b) direct and inverse kinematics of closed loops, (c) inverse and forward dynamics. The theoretical framework is extended to general mappings between manifolds. Some insight on the implementation based on C++ are given for the library “Mobile”. Applications are described for real-time simulations of roller-coasters, spline motions and real-time control of a robot at 4ms sampling time. 报告人简历：Professor Kecskeméthy graduated from the University of Stuttgart in Mechanical Engineering in 1984 and received his Ph.D. in Mechanical Engineering from the University of Duisburg in 1993. From 1994 to 1995, he stayed as a senior guest researcher at the Centre for Intelligent Machines at McGill University with a fellowship from the German Research Foundation (DFG). In 1996, Dr. Kecskeméthy was appointed Professor at the Technical University of Graz, where he held the Chair for Mechanics until 2002. In 2002, Professor Kecskeméthy moved to the University of Duisburg-Essen, where he holds the Chair for Mechanics and Robotics at the Institute of Mechatronics and System Dynamics. He is currently Editor-In-Chief of the Journal Mechanism and Machine Theory. He served as Dean of the Faculty of Engineering of and as Chairman of the Senate of the University Duisburg-Essen. His memberships include the German Engineering Association VDI and the International Federation for the Promotion of Mechanism and Machine Science. From 2013 to 2019 he was the Chair of the IFToMM Germany Group. Since 2020 he is President of the IFToMM. Professor Kecskeméthy has worked in the areas of kinematics and dynamics of multibody systems, covering topics such as modelling and control of mechatronic systems, vehicle dynamics, design of legged machines, biomechanics, virtual reality and heavy-weight robotics. He is author of more than 240 proceedings and journal papers. |
