Safety is a critical characteristic for robots designed to operate in human environments. Presenting the analytical model of the hybrid actuation for human-friendly robot development, this paper has been proposed design methodologies to improve performance factors such as range of motion, payload, and acceleration while maintaining the safety factor of effective inertia. The optimized parameter...

This paper shows the application of a 2DOF robust discrete deadtime compensator to a evaporation process in a sugar factory. The proposed controller is tuned using performance and robustness specifications and it is specially designed for integrative plants as is the case of the level control of the principal unit of the evaporator. A comparative analysis with the PID installed in the unit is p...

To maintain reliable and sustainable power supply, the frequency should be kept constant under varying load conditions. The two degrees of freedom internal model control (2DoF-IMC) scheme is a robust technique efficient for load-disturbance rejection problems in industrial process control. asymmetry IMC compared to other methods regarding controller design that it does not guarantee stability s...

Controlling an underactuated manipulator with less actuators than degrees of freedom is a challenging problem, specifically when it is to force the underactuated manipulator to track a given trajectory or to be configurated at a specific position in the work space. This paper presents two controllers for the set point regulation of 2-DOF underactuated manipulators. The first one is a cascade sl...