In this paper, modeling and simulation of nonlinear, Half-car Active Vehicle Suspension System (HAVSS) reinforced with PID controller is presented. The model has 4 degrees of freedom; comprising of heave movements of the front and rear axle, pitch and heave motions of the unsprung mass of the vehicle. The vehicle is excited by a triangular bump on an otherwise smooth road. The objective of the presented model is to isolate the vehicle body from these road disturbances in order to maximize passenger ride comfort and retain continuous road-wheel contact. PID controller is used to supress the vibrations generated from the road unevenness. Newton’s approach is used in system modeling due its simplicity over D’Alembert’s and Lagrange’s approach. The simulation, carried out in MATLAB environment, vividly shows the superior performance; in both effectiveness and robustness of the HAVSS over its passive control counterpart.

Trajectory planning of redundant manipulator is a very active area since many tasks are requiring special characteristics to be satisfied. The importance of redundant manipulators has been increased for the last two decades because of the possibility to avoid singularities as well as obstacles within the course of motion. A soft motion planning for redundant planar manipulators is introduced in this paper. This soft trajectory will reduce the jerk and increase the controllability of the task especially if the end-effector carries a liquid object. The torque required for each joint to perform a specific task has been simulated. Also, a comparison between the soft trajectory and the normal linear segment with parabolic blends (LSPB) trajectory has been carried out

A cubic-splines trajectory planning of a constrained rigid-flexible manipulator to minimize the contact force is considered. Based on the general dynamic model of the chain of flexible links, equations of motion for the manipulator are derived using the extended Hamilton’s principle. An analytical solution for the inverse dynamics problem using the assumed modes method is presented to compute the required joint torques for the tip mass to move along the constrained surface. Cubic-splines interpolation has been adjusted for the joint motion profiles to make sure that the end-effector will follow the prescribed trajectory without degradation. The knot points of the trajectories have been chosen on the constrained surface to achieve minimum contact force as possible.

There are some important parameters that must be taken into consideration in the design process of the actuator for a flexible single link robot. Among these important factors are the hub inertia and the proper tip mass (including the payload) for optimum performance of the flexible arm system. The main objective of the paper is to study the effect of the actuator inertia as well as the tip mass in the flexible hub torque through the solution of the inverse dynamics problem. For comparison, two reference trajectories; Gaussian velocity, and a polynomial profile are applied. The equations of motion are derived with the help of the extended Hamilton principle using the virtual link coordinate system and the pinned-pinned boundary conditions.