scholarly journals Planar reorientation of a free-free beam in space using embedded electromechanical actuators

1993 ◽  
Author(s):  
Ilya V. Kolmanovsky ◽  
Harris McClamroch
Keyword(s):  
Electromechanical Actuators ◽  
Free Beam

Discrete-Time Inverse Dynamics Control of Flexible Joint Robots

1992 ◽  
Vol 114 (2) ◽  
pp. 229-233 ◽  
Author(s):  
K. P. Jankowski ◽  
H. Van Brussel
Keyword(s):  
Discrete Time ◽  
Control Algorithm ◽  
Inverse Dynamics ◽  
Differential Algebraic Equations ◽  
Control Methods ◽  
Algebraic Equations ◽  
Computationally Efficient ◽  
Electromechanical Actuators ◽  
Flexible Joint Robots ◽  
Inverse Dynamics Control

This paper focuses on the problem of the application of inverse dynamics control methods to robots with flexible joints and electromechanical actuators. Due to drawbacks of the continuous-time inverse dynamics, discussed in the paper, a new control strategy in discrete-time is presented. The proposed control algorithm is based on numerical methods conceived for the solution of index-three systems of differential-algebraic equations. The method is computationally efficient and admits low sampling frequencies. The results of numerical experiments confirm the advantages of the designed control algorithm.

scholarly journals Generation of a meter-scale THz diffraction-free beam based on multiple cascaded lens-axicon doublets: detailed analysis and experimental demonstration

2020 ◽  
Vol 28 (24) ◽  
pp. 36873
Author(s):  
Feidi Xiang ◽  
Defeng Liu ◽  
Long Xiao ◽  
Sishi Shen ◽  
Zhengang Yang ◽  
...  
Keyword(s):  
Detailed Analysis ◽  
Experimental Demonstration ◽  
Free Beam
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