Mohammad Mahdavian
Center of Advanced Systems and Technologies(CAST), Faculty of Mechanical Engineering, University of Tehran, Tehran, Iran
[ 1 ] - Optimal Trajectory Generation for Energy Consumption Minimization and Moving Obstacle Avoidance of SURENA III Robot’s Arm
In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...
[ 2 ] - Hysteresis Modeling, Identification and Fuzzy PID Control of SMA Wire Actuators Using Generalized Prandtl-Ishlinskii Model with Experimental Validation
In this paper, hysteretic behavior modeling, system identification and control of a mechanism that is actuated by shape memory alloy (SMA) wires are presented. The mechanism consists of two airfoil plates and the rotation angle between these plates can be changed by SMA wire actuators. This mechanism is used to identify the unknown parameters of a hysteresis model. Prandtl–Ishlinskii method is ...