Front Cover: Exterior-electrode electrically driven microconcentrator

Task-space Control of Electrically Driven Robots

Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...

Proceedings Front Cover 8X10

The integrated Rule Oriented Data Management System (iRODS) is a policy-driven data management system that is starting to be used by projects with large data volume requirements that require a highly available system. In this paper we describe an approach to provide a Highly Availability load-balanced iRODS System (HAIRS). We also describe the advantages and disadvantages of the approach and fu...

Outside Front Cover

LUI Front Cover

Robust Fractional-order Control of Flexible-Joint Electrically Driven Robots

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...