澳门新葡平台网址8883入口机器人与信息自动化研究所 天津市智能机器人技术重点实验室

Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics

2018年春季先进机器人与人工智能系列学术讲座（第118期）

Seminar Series：Advanced Robotics & Artificial Intelligence

报告题目【更正】：
Geometry and Flatness of 2D and 3D-Crane Systems

报告人：
Krzysztof Kozlowski

Professor
Institute of Control and Robotics
Poznan University of Technology, Poland

时间：2018.7.24日上午10:00-11:00
地点：计控学院329室

Abstract:

In this talk a model of 2 and 3D-crane systems will be presented and studied. Based on differential geometry analysis the system will be linearised locally. 

The system is subjected to holonomic constraints and its zero dynamics is studied. It is shown how to eliminate Lagrange multipliers as a new method that gives an interesting insight into the nature of the control problem of such systems.

Next flatness of 2 and 3D crane systems is discussed. Simulation results illustrate theoretical considerations presented in this talk.

Biography:

Professor K. Kozlowski received the M.Sc. degree in electrical engineering from Poznan University of Technology (PUT), Poland, and the Ph.D. degree in control engineering from PUT in 1979, where he currently holds full professor position in robotics and automation. In 1993, he was a Fulbright scholar with Jet Propulsion Laboratory, Pasadena, USA. He founded and serves as a chairman of a new Institute of Automation and Control established on May 1, 2017 at Poznan University of Technology.

He teaches and conducts research in the area of modeling and control of industrial and mobile robots. His research interests include multi-agent systems, identification and various robotics applications. His research publications include more than 140 conference papers and more than 65 papers published in national and international journals. He is an author of the book titled Modelling and Identification in Robotics (Springer-Verlag, 1998).

He was an Associate Editor for the IEEE Transactions on Control Systems Technology (1999-2008), for the IEEE Robotics and Automation Magazine (1998-2002), for the Journal of Intelligent and Robotic Systems (2005-2010) and for the International Journal of Applied Mathematics and Computer Science, (1999-2017), IEEE Conference Editorial Board, Conference on Decision and Control (CDC) and American Control Conference (ACC) since 1999 till now. He was the member of the Administrative Committee, IEEE Robotics and Automation Society 2000-2002, 2004-2005 and the member of the Board of Directors, IEEE Control Systems Society, 2003-2004. He serves as the chair of the IEEE Robotics and Automation Chapter, Polish Section, 2000-2008 and 2014-2019.

He conducted 39 different research scientific projects as supervisor (26) and as principal investigator (13) granted by national research institutions and 2 international research agencies.