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Abstract. Optimal modal feedback control laws are synthesized from the modal equations which are obtained by eigenfunction expansion of the diffusion equation systems with space-independent control, boundary control, and distributed control. Comparison between the modal feedback control laws and distributed feedback control laws are discussed. The results also indicate proper quadrature performance criteria for the synthesis of the distributed feedback control laws.

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This paper proposes a new wrist mechanism for robot manipulation. To develop multi-dof wrist mechanisms that can emulate human wrists, compactness and high torque density are the major challenges. Traditional wrist mechanisms consist of series of rotary motors that require gearing to amplify the output torque. This often results in a bulky wrist mechanism. Instead, large linear force can be easily realized in a compact space by using leadscrew motors. Inspired by the muscle-tendon actuation pattern, the proposed mechanism consists of two parallel placed linear motors. Their linear motions are transmitted to two perpendicular rotations through a spherical mechanism and two slider crank mechanisms. High torque density can be achieved. Static and dynamic models are developed to design the wrist mechanism. A wrist prototype and its position control experiments will be presented with results discussed. The novel mechanism is expected to serve as an alternative for robot manipulators in applications that require human-friendly interactions.Index Terms-Robot wrist, parallel mechanism, torque density, bio-inspired actuation, robot dynamics.