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Actuators
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Robotics and Control: State of the Art
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Robotics and Control: State of the Art

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: closed (30 June 2022) | Viewed by 18449

Special Issue Editors

Dr. Puren Ouyang

E-Mail Website
Guest Editor
Department of Aerospace Engineering, Ryerson University, 350 Victoria St, Toronto, ON M5B 2K3, Canada
Interests: mechatronics; robotics; control system; hybrid system; micro/nano engineering
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Zhuming Bi

E-Mail Website
Guest Editor
Department of Civil and Mechanical Engineering, Purdue University Fort Wayne, Fort Wayne, IN 46805, USA
Interests: mechanical engineering; robotics; manufacturing engineering; mechatronics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear colleagues,

As one of the most promising technologies of the future, robotics has become very important in industrial applications, household services, and healthcare. Robotics is dealing with research and development in a few interdisciplinary areas, such as design optimization, kinematics, dynamics, motion planning, control, sensors, and machine intelligence. The control system is the core in the development and applications of robotic systems. The extent of research activities in robotics and control has led to many significant achievements that can be shared with the research community. 

The aim of this Special Issue is to collect original papers concerned with the theory and application of various types of robotic systems and control. Theoretical, numerical, and experimental contributions on robotics and control are welcome in this Special Issue, particularly the following:

  • Modeling and analysis;
  • Humanoid robots;
  • Mobile robots;
  • Multirobot systems;
  • Microrobots and micromanipulation;
  • Space and underwater robots;
  • Trajectory planning and optimization;
  • Contour tracking;
  • Sensing;
  • Control system modeling;
  • AI, Intelligent control, neuro-control, fuzzy control;
  • Optimal control; robust control; adaptive control; hybrid control;
  • Networked control;
  • systems; learning control;
  • Control applications.

Dr. Puren Ouyang
Prof. Dr. Zhuming Bi
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Modeling and analysis
  • Humanoid robots
  • Mobile robots
  • Multirobot systems
  • Microrobots and micromanipulation
  • Space and underwater robots
  • Trajectory planning and optimization
  • Contour tracking
  • Sensing
  • Control system modeling
  • AI, Intelligent control, neuro-control, fuzzy control
  • Optimal control
  • robust control
  • adaptive control
  • hybrid control
  • Networked control
  • systems
  • learning control
  • Control applications

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  • Greater discoverability: Special Issues support the reach and impact of scientific research. Articles in Special Issues are more discoverable and cited more frequently.
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Further information on MDPI's Special Issue polices can be found here.

Published Papers (4 papers)

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Research

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17 pages, 1224 KiB  
Article
Model-Independent Observer-Based Current Sensorless Speed Servo Systems with Adaptive Feedback Gain
by Sun Lim, Seok-Kyoon Kim and Ki-Chan Kim
Actuators 2022, 11(5), 126; https://doi.org/10.3390/act11050126 - 29 Apr 2022
Cited by 3 | Viewed by 2237
Abstract
This study proposes a solution to the speed control problem of servo machines in the form of multi-loop current sensorless control with a reduction in the system model dependence level and the number of feedback loops, which provides the two contributions: first, a [...] Read more.
This study proposes a solution to the speed control problem of servo machines in the form of multi-loop current sensorless control with a reduction in the system model dependence level and the number of feedback loops, which provides the two contributions: first, a model-independent observer estimates speed and acceleration using only the position measurement, thereby ensuring the first-order estimation error dynamics; second, the active damping acceleration stabilizes the inner loop with the adaptive feedback gain increasing and decreasing automatically according to the transient and steady-state operation modes. The experimental study highlighted the effectiveness of the acceleration loop adaptation technique, which used an actual servo system comprising the QUBE-servo2 and myRIO-1900. Full article
(This article belongs to the Special Issue Robotics and Control: State of the Art)
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18 pages, 2427 KiB  
Article
Robust Adaptive Control of Knee Exoskeleton-Assistant System Based on Nonlinear Disturbance Observer
by Anwer S. Aljuboury, Akram Hashim Hameed, Ahmed R. Ajel, Amjad J. Humaidi, Ahmed Alkhayyat and Ammar K. Al Mhdawi
Actuators 2022, 11(3), 78; https://doi.org/10.3390/act11030078 - 4 Mar 2022
Cited by 42 | Viewed by 4119
Abstract
This study presents a control design of an angular position for the exoskeleton knee assistance system based on a model reference adaptive control (MRAC) strategy. Three schemes of the MRAC design have been proposed: the classical MRAC, MRAC with an adaptive disturbance observer, [...] Read more.
This study presents a control design of an angular position for the exoskeleton knee assistance system based on a model reference adaptive control (MRAC) strategy. Three schemes of the MRAC design have been proposed: the classical MRAC, MRAC with an adaptive disturbance observer, and MRAC with a nonlinear observer. The stability analysis for each scheme has been conducted and developed based on the Lyapunov theorem to prove the uniform ultimate bound of tracking and estimation errors. In addition, the adaptive laws have been developed for the proposed schemes according to the stability analysis. The effectiveness of the proposed state and output feedback controllers has been verified via computer simulation. The results based on numerical simulation have shown that the MRAC with a nonlinear observer could give better robustness characteristics and better performance in terms of tracking and estimation errors as compared to the other controllers. Full article
(This article belongs to the Special Issue Robotics and Control: State of the Art)
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18 pages, 3918 KiB  
Article
Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile
by Shengqiao Hu, Huimin Kang, Hao Tang, Zhengjie Cui, Zhicheng Liu and Puren Ouyang
Actuators 2021, 10(4), 80; https://doi.org/10.3390/act10040080 - 16 Apr 2021
Cited by 6 | Viewed by 3426
Abstract
To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jerk motion profile. The [...] Read more.
To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jerk motion profile. The 12-phase sine jerk motion profile utilizes the characteristics of a sine function. Furthermore, the penalty function is used to optimize the trajectory energy consumption under the constraint condition. The simulation and experimental results show that the energy consumption of joint space is slightly higher than that of the three-phase sine jerk motion profile, but the overall operation is more accurate and stable. Specifically, the sudden change of force and velocity in each joint is eliminated, which is the cause of mechanism oscillation. Moreover, the force of each joint is more average. The results indicate that each movement is closer to the maximum allowable limit and the running efficiency is higher. Full article
(This article belongs to the Special Issue Robotics and Control: State of the Art)
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Review

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23 pages, 5411 KiB  
Review
Fatigue Analysis of Actuators with Teflon Impregnated Coating—Challenges in Numerical Simulation
by Zhuming Bi, Bongsu Kang and Puren Ouyang
Actuators 2021, 10(4), 82; https://doi.org/10.3390/act10040082 - 18 Apr 2021
Cited by 1 | Viewed by 5606
Abstract
Actuators are essential components for motion in machines, and warranty service lives are basic specifications of actuators. However, fatigue damage or wear of actuators are very complex and related to many design factors, such as materials properties, surface conditions, loads, and operating temperature. [...] Read more.
Actuators are essential components for motion in machines, and warranty service lives are basic specifications of actuators. However, fatigue damage or wear of actuators are very complex and related to many design factors, such as materials properties, surface conditions, loads, and operating temperature. Actuator manufacturers still rely heavily on physical experiments to determine the fatigue lives of actuators. This paper investigates the state-of-the-art of using numerical simulations for fatigue analysis of mechanical actuators. Failure criteria of machine elements are discussed extensively; existing works on using finite element methods for machine element designs are examined to (1) explore the feasibility of using a numerical simulation for fatigue analysis and (2) discuss the technical challenges in practice. Moreover, a systematic procedure is suggested to predict fatigue lives of mechanical actuators with Teflon impregnated hard coatings. A virtual fatigue analysis allows for optimizing a mechanical structure, reducing design verification costs, and shortening the development time of actuators. Full article
(This article belongs to the Special Issue Robotics and Control: State of the Art)
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