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Configuration-dependent nonlinear coefficient matrices in the dynamic equation o f a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range, nonlinear coefficient matrices can be approximated to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the error as disturbance. The proposed inverse dynamics controller with approximate dynamics combined with Hinfinity control shows good tracking performance even for fast tracking control in which computation of full dynamicsis not easy to implement.

Material extrusion (ME) using a filament including metal powders has recently attracted considerable attention because it allows the production of metal parts at low cost. However, like other additive manufacturing processes, metal ME suffers from the problem of internal pores. In this study, warm isostatic pressure (WIP)—a post-process used to downsize or remove the pores in polymer ME—was employed in metal ME to improve the mechanical properties of the finished part. It was confirmed experimentally that the tensile strength and the strain at the ultimate tensile strength were increased by WIP. However, from hardness tests, two different results were obtained. On a microscopic scale, there was no change in hardness because the temperature of the WIP process was not high enough to change the microstructure, while on a macroscopic scale, the hardness changed owing to the collapse of the pores within the material under the indenter load. In specimens with relatively large pores, the hardness sensitivity increases with a larger indenter. Finally, factors affecting the WIP process parameters in metal ME were discussed.

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