A complete mathematical model of SCARA robot (Serpent 1) is developed including servo actuator dynamics and presented together with dynamic simulation in this paper. The equations of motion are derived by using Lagrangian mechanics. Dc servo motors driving each robot joint is studied with PD controller action. Serpent 1 robot is instructed to achieve pick and place operations of three different...

Shape memory alloy offer an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibilit...

In this paper, the investigational results for a robust adaptive vibration control of a translating tensioned beam with a varying traveling speed are presented. The dynamics of the moving beam are modeled as an Euler-Bernoulli beam, in which the tension applied to the beam is given as a nonlinear spatiotemporally varying function. The moving beam span is divided into two parts, i.e., a controll...

An actuator array is a form of distributed manipulation where an object being transported and manipulated rests on a large number of stationary supporting actuators. The authors have developed a macroscopic actuator array consisting of many motorized wheels. The analysis of such an array as opposed to a MEMS array requires the explicit modeling of the discreteness in the system, including the s...

The technique described in the paper has been developed in order to eliminate or reduce the residual oscillations of suspended bodies, transported by robot arms. It is based on a suitable choice of the motion profile assigned to the linear actuator that drives the system. As it will be clarified in the paper, the motion command is defined through some coefficients that determine its shape. By m...

This paper presents the control system design for a piezoelectric actuator (PEA) for a high-speed trajectory scanning application. First nonlinear hysteresis is compensated for by using the Maxwell resistive capacitor model. Then the linear dynamics of the hysteresis-compensated piezoelectric actuator are identified. A proportional plus integral (PI) controller is designed based on the linear s...

Abstract We consider the problem of stabilizing PDE–ODE cascade systems in which input is applied to PDE system whose output drives ODE system. also dual constructing an observer for ODE–PDE system, measured. The these problems exponentially stable and unstable. While models plant both problems, actuator stabilization sensor problem. In literature, have been solved specific using backstepping a...

This article demonstrates that an actuator can be used as a single platform for measurement, control and estimation by designing a chain of estimators and performing simple offline experiments. Making use of the fact that reflected torque from the dynamical system consists of all the system dynamics beside all external disturbances. The reflected torque waves are estimated using the actuator pa...

This paper addresses a neural-network-based chattering free sliding mode control (SMC) for robot manipulators including structured and unstructured uncertainties in both manipulator and actuator dynamics by incorporating a PID outer loop. The main idea is that the robustness property of SMC and good response characteristics of PID are combined to achieve more acceptable performance. Uncertainti...

In this paper, a robust vibration control scheme of the axially moving steel strip in the zinc galvanizing line is considered. The boundary control force is applied to the strip through the two touch rolls connected to a hydraulic actuator. The mathematical model of the system, which consists of a partial differential equation describing the dynamics of the traveling steel strip and an ordinary...