Yu Sheng Jiang

US Patent:

20150115860, Apr 30, 2015

Filed:

Oct 25, 2013

Appl. No.:

14/063019

Inventors:

- Cambridge MA, US
Yu Jiang - Brooklyn NY, US
Scott A. Bortoff - Brookline MA, US

Assignee:

Mitsubishi Electric Research Laboratories, Inc. - Cambridge MA

International Classification:

G05B 13/02

US Classification:

318561

Abstract:

A motion-control system for moving a mass according to different tasks includes at least one controllable actuator for performing the different tasks and an input module for receiving a specific task to perform. The system also includes a controller for controlling a performance of the specific task by the controllable actuator according to a specific control law and a tunable actuator having a tunable parameter of mechanical response, wherein the tunable actuator is mechanically arranged in the system, such that different values of the tunable parameter change dynamics of the system. An optimization module of the system jointly selects a value of the tunable parameter and the specific control law based on the specific task.