OPTEC - K.U.Leuven Center of Excellence: Optimization in Engineering

"Linear programs for optimal motion generation in linear dynamic systems: numerical issues"
Bram Demeulenaere (K.U.Leuven Mech-PMA)

Abstract:
Since 2005, a linear-programming based optimization framework has been developed at KUL/PMA to design dynamically optimal, polynomial splines for motion generation. While the framework was originally developed for rigid-body mechanical systems, it has recently been extended to flexible systems, described by linear ODEs subject to parametric uncertainty. For the latter class of systems, also so-called input shaping techniques have been considered, whereby it was shown in a 2006-2007 master thesis that input shapers can also be designed based on linear programming.

The present talk gives a short and high-level introduction to both the polynomial spline and input shaper optimization, and subsequently focuses on the main problems encountered so far, which are predominantly numerical in nature. The main idea of the talk is (i) to get some preliminary feedback of specialists in the field of spline optimization, linear algebra/programming and general scientific computing, and (ii) to investigate whether a collaboration concerning this topic can be set up.

Note:
Bram Demeulenaere is a member of OPTEC and an expert on the application of convex optimization techniques to mechanical systems.  He works in particular on counterweight balancing of linkages, spline-based cam design, dynamically compensated cams, and inverse dynamic musculo-skeletal simulation, including muscle physiology.

Slides