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QUESTE Adrien

M2 Student at Ecole Normale Supérieur de Rennes

Agrégation-qualified in Industrial Engineering, specialized in Electrical Engineering



Projects



2A

FilesTitleAuthorsLaboratory/InstitutionDates
Command of a robotCommand of a robot:taking account cinematic and inertiaQUESTE Adrien:@firstname.name@ens-rennes.fr
TRAIA Yacine: @firstname.name@ens-rennes.fr		ENS RENNES2023-2024
Linear actuatorStudy of an electromagnetic energy recuperatorQUESTE AdrienENS RENNES2023-2024

1A

FilesTitleAuthorsLaboratory/InstitutionDates
Grinding on the seaGrinding on the sea:Construction of a hand-held plastic shredder for boatsBRUOT Robin: @firstname.name@ens-rennes.fr
BAUDEL Boris: @firstname.name@ens-rennes.fr
QUESTE Adrien:@firstname.name@ens-rennes.fr		ENS RENNES2022-2023
Neural networksDetermination of the mechanical parameters of a Li2SO2 glass using a neural network DEPIN Emeric:@firstname.name@ens-rennes.fr
KERIBIN Jérôme:@firstname.name@ens-rennes.fr
QUESTE Adrien:@firstname.name@ens-rennes.fr		IPR: Physic Institut of Rennes 2022-2023
Vibrational mechanicsVibrational mechanics: Study of rotor dynamics using finite elements and experimentsQUESTE AdrienUMONS: Belgium2023




Pratical Work



2A

FilesTitleAuthorsLaboratory/InstitutionDates

1A

FilesTitleAuthorsLaboratory/InstitutionDates






Projects



Command of Robot

Cinematic control

In order to observe the different methods and their convergences so the initial configuration of the robot was different than the first point of the trajectory. The trajectory was a circle

Jacobian non-optimized

Pseudo inverse

Null space Projection

Null space: The robot must trace the circle, fixing its first and last arms at +/- 10 degrees as long as it can. The priority task is the circle.

Task augmented

Task augmented: The robot has to trace the circle, fixing its first arm at pi/3 and the last at 0degree. If it can't, it crashes

Task Priority

Task priority: The robot must trace the circle, fixing its first and last arms at 0 degrees as long as it can. The priority task is the circle.The second task is to fix the last arm at 0degree. And the third task is to fix the last arm at 0degree.

Jacobian optimization

In this method, the control of the robot is optimized in order to overcome the robot's initial position

Dynamic control

Zero Torque

There is not control of the robot:only gravity

Torque

A random torque is applied

Control PD

The control is only by corrector P on the angle and D on the velocity

Control PID

The control is only by corrector I on the integral of the position,P on the angle and D on the velocity

Control PD gravity

The control is like PD but at each step the gravity is compensed

Trajectory of PD gravity

The control is used to draw a part of a circle but it is complicated due to each arm of the robot

Trajectory of PD+FFW>

The control is better because all inertia are introduced to calculate the torque of links

Cinematic and Dynamic control

In this part, the two methods are merged.

Final trajectory>

The circle seems great but we can see some oscillations that should be reduced in practice

Some files about it:Robotics





Linear actuator





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Some files about it:PROJ1B









Grinding on the sea





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Some files about it:COFA





Neural Networks: Prediction of the resistance of a glass





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Some files about it:PROJ1B





Vibrational mechanics: Study of rotor dynamics using finite elements and experiments





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Some files about it:Stage1a

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