conjugated polymer actuators can be employed to achieve micro and nano scale precision, and have a wide range of applications including biomimetic robots, and biomedical devices. in comparison to robotic joints, they do not have friction or backlash, but on the other hand, they have complicated electro-chemo-mechanical dynamics which makes modelling and control of the actuator really difficult....

A modified method for satellite attitude control system in presence of novel actuators is proposed in this paper. The attitude control system is composed of three fluidic momentum controller (FMC) actuators that are used to control Euler angles and their dynamics is considered in satellite attitude equations as well. L1 adaptive control is utilized for satellite three-axial ...

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...

in this paper, we try to use modeling based on singular perturbation theory, in order to control satellite attitude during the wide rolling angle maneuvering through nonlinear h∞ control strategy. differential equations describing dynamics of the satellite are presented first, and by choosing the appropriate dynamic model for actuators and based on the standard singular perturbation model, the ...

Recursive matrix relations for kinematics and dynamics of a spatial three-degrees-of-freedom 3-RPS parallel mechanism are established in this paper. Three identical legs connect the moving platform by revolute joints. Knowing the motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot. Further, the inverse d...

Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper, the power and energy consumption of variable stiffness actuators with serial elasticity is investigated analytically and experimentally. Besid...

Recursive modelling for the kinematics and dynamics of the known 3-PRR planar parallel robot is established in this paper. Three identical planar legs connecting to the moving platform are located in a vertical plane. Knowing themotion of the platform,we develop first the inverse kinematics and determine the positions, velocities and accelerations of the robot. Further, the principle of virtual...

the presence of van der waals (vdw) force can lead to mechanical instability in freestanding nano-scale actuators. most of the previous researches in this area have exclusively focused on modeling the instability in actuators with one actuating components. while, less attention has been paid to actuators consist of two actuating components. herein, the effect of the vdw force on the instability...