Inverse Static Analysis of Massive Parallel Arrays of Three-State Actuators via Artificial Intelligence

Pasila, Felix and Vertechy, Rocco and Berselli, Geovani and Castelli, Vincenzo Parenti (2013) Inverse Static Analysis of Massive Parallel Arrays of Three-State Actuators via Artificial Intelligence. In: Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, 544 . Springer Vienna, Udinese, Italy, pp. 43-50. ISBN 978-3-7091-1378-3 (Print) 978-3-7091-1379-0 (Online)

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Abstract

Massive parallel arrays of discrete actuators are force regulated robots that undergo continuous motions despite being commanded through a large but finite number of states only. Real-time control of such systems requires fast and efficient methods for solving their inverse static analysis, which is a challenging problem. Artificial intelligence methods are investigated here for the on-line computation of the inverse static analysis of a planar parallel array featuring eight three-state force actuators and possessing one degree of revolute motion.

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