Recursive matrix relations in kinematics and dynamics of a Delta parallel robot having three revolute actuators are established in this paper. The prototype of the manipulator is a three degrees-of-freedom space mechanism, which consists of a system of parallel closed kinematical chains connecting to the moving platform. Knowing the translation motion of the platform, we develop first the inver...

The paper considers control of an autonomous underwater vehicle (AUV) with a reduced number of actua-tors. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. A continuous periodic time-varying feedback law is presented. It is shown that it exponentially stabilizes the total AUV model using only four actuators. Furthermore, it is shown that if the hydrodynami...

The Modular Distributed Manipulator System (MDMS) is an array of actuators that is capable of manipulating objects in the plane [1]. Each actuator in the array consists of two closely spaced, orthogonally mounted motorized roller wheels whose combined action approximates a programmable vector force. This paper first derives the equations of motion for transported objects by explicitly consideri...

The paper deals with a novel control algorithm for simultaneous stabilization and trajectory tracking of underactuated nonlinear mechanical systems (UNMS) with included actuators dynamics. Simultaneous stabilization and trajectory tracking refer to arbitrary chosen actuated and unactuated degrees of freedom (DOF) of the system. The proposed control approach can be applied both to the second-ord...

Applying methods of artificial evolution to synthesize robot controllers for complex tasks is still a challenging endeavor. We report an approach which might have the potential to improve the performance of evolutionary algorithms in the context of evolutionary robotics. We apply a controller concept that is inspired by signaling networks found in nature. The implementation of spatial features ...

The prospective work reported in this paper explores a new approach in order to enhance the performance of an Active Fault Tolerant Control System. This proposed technique is based on a modified recovery/trajectory control system which considered a reconfigurable reference input when performance degradation occurs on system due to faults in actuators dynamics. The added value of this work is to...

Tiny ultrasonic linear actuators (TULAs) are used in many industrial applications and a full characterization of their dynamic behavior is needed. This paper presents a detailed theoretical-experimental study of TULAs. The general structure and operation principle of TULAs are introduced. The actuator dynamics is then described using a simple piezoelectric model. In practice, TULAs are most oft...

Results from simulations of a Planar Robot Model, when it is placed in the same plane of the action of the gravity force are reviewed in this paper. The model includes several parameters usually discarded in current models, such as Driving, and Non-linear Friction, for an industrial-type robotic manipulator and its actuators. When we develop more exact representations of the dynamics of a manip...

Semi-active control systems have been widely studied over the last 20 years. The range of applications includes automotive suspensions, seismic vibration mitigation, large bridges vibration control, knee prosthesis, among others. Semi-active actuators have a complex dynamics, and interaction between actuator and plant cannot be ignored in control design. This is specially true for magneto-rheol...

in this paper the active vibration control of a four-story shear frame instrumented with piezoelectric actuators is presented. the piezoelectric actuators are hosted on the columns in two manners and the produced controlling forces by actuators are considered in the equation of motion. the smart structure modeling and control design is carried out using matlab software in state space form. subs...