13 Décembre – Thesis defense - Santiago Montagud
10 h Amphi 21 - ESTIA (Bidart)
Real time simulation in non linear dynamics. Application in soft robots.
The use of soft robots in industry has considerably increased thanks to its adaptability, a better interaction with humans and control techniques development. Soft robots development, comprehending energy absorption in collisions, improving tasks as grasping or allowing operations in confined places, needs new control strategies. Computational control requires structure deformation consideration and new methods are needed in order to simulate real time soft structures deformations. In this work we propose the use of parametric solutions in the resolution of the nonlinear problems in structural dynamics. Parametric solutions allow the pre-computation of a general solution, reducing the computational time. These solutions can be used in real time structural dynamics computations, which can be not affordable by classic methods.