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This work enters in the scheme of work at The Multibody and Mechatronic Systems Laboratory of the University of Liège, that aims at optimizing trajectory control by taking into account robot flexibility. A Delta robot ``ABB IRB 340'' will one of the subjects of this study. This work will focus on designing a ``Rigid Body Dynamic Model'' of this robot as a step towards the goals of the Multibody and Mechatronics Systems Laboratory.

kinematics --- dynamics --- robotics --- model identification --- multibody modeling --- multibody mechanics --- Delta robot --- feedfoward --- control --- Samcef --- Mecano --- Ingénierie, informatique & technologie > Ingénierie mécanique