In this paper, controlling the location of the tip of an L-shape beam under gravity field is investigated. The beam is covered with piezoelectric patches. The gravity filed moves the tip of beam downward and the actuators with induced voltage move the tip to the previous location. to optimize the best location and voltages for actuators, the particle swarm optimization algorithm code is develop...

Closed kinematic chain mechanisms are extensively used in several applications, from machine tools to biomechanical models. A few works however address the mechanics of these systems with redundant actuation, i.e., with more actuators than degrees of freedom. The inverse dynamics analysis of this kind of system does not possess an unique solution, and therefore optimization procedures should be...

Optimal locations of the actuators for frame active control are investigated in this article. The aim is to minimize the structural drifts by employing several actuators. By utilizing genetic algorithm, the appropriate locations of the actuators are determined. They should be placed in locations where they can minimize the maximum structural drift. To explore the capability of the proposed tech...

Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, their actuators can even allow them to improve over the performance of a robot with an ideal force source actuator by storing and releasing energy. In this paper, we formulate the trajectory optimization problem for series elas...

In this paper, we describe modeling and control techniques for a real-world series-elastic actuated 1D hopping robot. There is an abundance of work regarding the implementation of highly simplified hopper models, with the hopes of extracting fundamental control ideas for running and hopping robots. However, real-world systems unfortunately cannot be accurately described by such simple models, a...

A stability result is given for hybrid control systems singularly perturbed by fast but continuous actuators. If a hybrid control system has a compact set globally asymptotically stable when the actuator dynamics are omitted, or equivalently, are infinitely fast, then the same compact set is semiglobally practically asymptotically stable in the finite speed of the actuator dynamics. This result...

The paper presents numerical modeling of the dynamics of recently developed electromagnetic valve actuator. The decoupled modelling approach is employed consisting of three-dimensional finite element analysis of the magnetic field of the actuator and solution of the dynamics equations on the basis of functions obtained from the magnetic field analysis. For the finite element analysis ANSYS prog...

Matrix relations for dynamics analysis of a spatial translational 3-UPU parallel mechanism are established in this paper. Three identical legs connect the moving platform by universal joints. Knowing the translation motion of the platform, inverse dynamics problem is solved using an approach based on explicit equations of parallel robots dynamics, but it has been verified the results in the fra...

This paper presents a high-bandwidth capacitance estimation and driving circuit especially tailored for its use with MEMS electrostatic actuators. The circuit can be integrated as a part of a system comprising an electrostatic actuator to provide self-testing and failure prediction capabilities and also as a simple and low-cost actuator dynamics characterization system capable of measuring both...

In this paper we consider the problem of developing sensor/actuator abstractions for embedded control design. These abstractions take the form of inequalities relating sensor/actuator characteristics with the continuous dynamics’ output. When satisfied, they allow to decouple control design from the choice of sensor/actuators, thus simplifying control design while ensuring implementability.