PhD in Robotics Force Control for manufacturing operations (M/F)

Description de l'offre

PhD in Robotics Force Control for manufacturing operations (M/F)

Airbus Toulouse

Airbus is a global leader in aeronautics, space and related services. In 2017, it generated revenues of € 67 billion and employed a workforce of around 130,000. Airbus offers the most comprehensive range of passenger airliners from 100 to more than 600 seats. Airbus is also a European leader providing tanker, combat, transport and mission aircraft, as well as Europe's number one space enterprise and the world's second largest space business. In helicopters, Airbus provides the most efficient civil and military rotorcraft solutions worldwide.

Our people work with passion and determination to make the world a more connected, safer and smarter place. Taking pride in our work, we draw on each other's expertise and experience to achieve excellence. Our diversity and teamwork culture propel us to accomplish the extraordinary - on the ground, in the sky and in space.

Description of the job

A PhD Thesis opportunity in "Robotics Force Control for manufacturing operations (M/F)" has arisen at Airbus Commercial Aircraft in Toulouse.

The main objective of this thesis is to study the whole body control motions generation, from complex kinematics robots (including humanoids) in order to perform aircraft manufacturing operations such as drilling or tightening processes. The overall model will integrate constraints describing either where the robot can make use of surrounding elements or where this is not possible, in order to achieve the objective. The scientific challenge is to exploit the interaction forces with the environment using multi contact.
This thesis aims to develop new force control methods by using stochastic learning approach allowing very short reaction times.

In the recent years, there has been a paradigm shift from using linear algebra towards more general methods based on quadratic non-linear programming to compute the instructions, including manupulation. Constraints could be added in a simple way to the optimization problem (i.e. joint limits, maximum forces). The controller targeted here will optimize any cost function while enforcing constraints in real time control loops.
LAAS CNRS Gepetto team has demonstrated the implementation of such approaches of position-controlled systems. The candidate will also be able to take advantage of the various platforms such as humanoid with Pyrène & Tiago available at the laboratory.

Profil recherché

Tasks & accountabilities

The thesis targets C ++ algorithms development using the Gepetto SDK called Stack-Of-Tasks.

·  Year 1: carry out a literature research on the problem and the state of the art. The study will focus on the types of interaction in force relevant for the area of application, ie applications of drilling and screwing.
·  Year 2: Implementation of the algorithm and evaluation on simple instances (either in terms of dimensions, or in simplicity of the mechanism).
·  Year 3: Integration of the control system on various robots, realization of a demonstrator and live test in a realistic industrial environment. Supported by the submission of a scientific paper and writing of thesis dissertation.

This job requires an awareness of any potential compliance risks and a commitment to act with integrity, as the foundation for the Company's success, reputation and sustainable growth.

Required skills

You have the following skills and experience:

·  MsE or MsR in robotics, automation and control or mechatronics
·  High level of competences in robotics and automation fundamental theories.
·  Decent level of knowledge in programming (particulièrement Python, C++) sous Linux
·  Decent level in English
·  Soft skills: communicating, team spirit, self-reliant, curious and passionate