Physics-Informed Neural Networks to Model and Control Robots: A Theoretical and Experimental Investigation

This work concerns the application of physics-informed neural networks to the modeling and control of complex robotic systems. Achieving this goal requires extending physics-informed neural networks to handle nonconservative effects. These learned models are proposed to combine with model-based controllers originally developed with first...

Adaption of structured grids based on Weighted Least Squares formulations

Computational grids are used for the discretisation of partial differential equations (PDE's) such that solution of the resulting system of algebraic equations for the discrete values of the dependent variables provides an approximation to the solution of the system of PDE's. When the discretisation of the partial differential equations (PDE's)...

Modelling dynamical systems with equality state-space constraints

A mathematical theory for modelling dynamical systems with equality state-space constraints is presented. The dynamic behaviour of these systems is represented by a combination of differential and algebraic equations. It Is shown that the freedom offered by control is essential to obtain other, mathematically equivalent formulations. The notion...

Numerical solution of dynamical systems with equality state-space constraints

Numerical simulation of constrained dynamical systems is known to exhibit stability problems even when the unconstrained system can be simulated in a stable manner. We show that not the constraints themselves, but the transformation of a continuous set of equations to a discrete set of equations is the true source of the stability problem....

Quasi-recursive dynamics equations for spacecraft-based flexible robotic manipulators

The report contains the development of the dynamics equations of a spacecraftmanipulator system with chain topology. The spacecraft may be flexible. The attached manipulator consists of an arbitrary number of links, connected by single degree-of-freedom rotational joints. None, any, or all of the links may be flexible. A rigid or flexible...

Equivalent flexibility modelling for the recursive simulation of robot manipulator dymamics

The report focuses on the mathematical modelling of the dynamics of spacecraft based manipulators displaying structural flexibility in their links. The equations of motion must be cast in a form suitable for efficient numerical simulation. Equations of motion found in literature are usually written in the form of an augmented system of...

An introduction to robot joint control methods

A vast amount of literature exists on the subject of robot control. However, most articles are based on only a limited number of control methods. In this report the basical principles of these control methods are described. Furthermore, some advantages and disadvantages of these methods are mentioned.