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

Abstract

Massive parallel arrays of discrete actuators are forceregulated robots that undergo continuous motions despite being commanded through a large but finite number of states only. Realtime 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.