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

  • Felix Pasila
  • Rocco Vertechy
  • Giovanni Berselli
  • Vincenzo Parenti Castelli
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)


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.


Recurrent Neural Network Inverse Kinematic Dielectric Elastomer Recurrent Neural Network Model Inverse Kinematic Algorithm 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Felix Pasila
    • 1
  • Rocco Vertechy
    • 2
  • Giovanni Berselli
    • 3
  • Vincenzo Parenti Castelli
    • 1
  1. 1.Dept. of Mech. Eng.University of BolognaBolognaItaly
  2. 2.Percro LaboratoryScuola Superiore Sant’ AnnaPisaItaly
  3. 3.Dept. of Mech. Eng.University of Modena and Reggio EmiliaModenaItaly

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