The response of a polysilicon parallel-plate electrostatic actuator to AC signals at diierent bias voltages has been measured with a laser interferometer. Using microhinges, large plates (with areas from 100m 2 to 0:1mm 2) with long thin support beams (such as 60031:5m 3) are rotated oo the surface of the substrate to form a parallel-plate capacitor. Fabricated structures having 100m gaps can b...

This paper aims at presenting the efficiency of the Linear Parameter Varying method for vehicle dynamics control, in particular when some actuators may be in failure. The case of the suspension actuators failure and braking actuators failure are presented. The main objective is to enhance the vehicle dynamics even with faulty actuators through the suspension control (for comfort and road holdin...

A simulational model of 6 dof Stewart platform type parallel manipulator is presented. The manipulator is driven by electrohydraulic actuators. A novel invariant error dynamics controller is used. The developed control scheme employs the dynamic and hydraulic model of the system. The manipulator model consists of the rigid body equations of motion and the hydraulic dynamics of the main elements...

This paper presents a recursive formulation for the inverse dynamics of a generic twoDegree of Freedom planar parallel manipulator with prismatic actuators, which find applications in positioning, contouring, etc. with high accuracy and precision. The method is based on the Newton-Euler equations of motion and the Decoupled Natural Orthogonal Complement matrices, which relate the angular and li...

In this paper control forces and torques automatic distribution algorithms for a vehicle actuators are considered. Base control algorithm is designed by position and path control method for vehicles [1] – [3]. This control algorithm is based on kinematics and dynamics equations of vehicle. Distribution of control forces and torques between actuators is solved by applying of the pseudoinverse ma...

Magnetically sensitive environments such as MRI scanners preclude the use of traditional electromagnetic actuators. Pneumatic piston-cylinders are well-suited actuators for MRIguided robots, but the nonlinear dynamics of the working fluid creates a challenging controls problem. Precision control of the actuators is needed for the robot to achieve high targeting accuracy. This paper reports a fi...

Large (>1 m) deformable mirrors are attractive for adaptive optics on ground-based telescopes; the mirrors typically have hundreds or thousands of actuators. The use of force actuators instead of position actuators has the potential to significantly reduce total system cost. However, the use of force actuators results in many lightly-damped structural resonances within the desired bandwidth of ...