Compliant Motion Systems (ME 507)

2021 Spring
Faculty of Engineering and Natural Sciences
Melih T├╝rkseven,
Click here to view.
Doctoral, Master
Click here to view.


This course focuses on modeling and control of motion systems with mechanical flexibility, e.g. manipulators with flexible joints/links, compliant (soft) actuators, or systems with compliant transmission mechanisms. It covers dynamics of mechanical compliance, prominent control methodologies for compliant motion systems, and cases in which mechanical compliance is utilized for efficiency, safety, and robustness. A mathematical foundation on nonlinear system analysis and Lyapunov Theory is included.