This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates from Cartesian joint angle space. translated angles are then as reference signal robot dynamics using controller. stability robustness of proposed control...

a non-linear finite element model could be a useful tool in the development of a method of predicting soil pressure-sinkage behaviour, and can be used to investigate and analyze soil compaction. this study was undertaken to emphasize that the finite element method (fem) is a proper technique to model soil pressure-sinkage behaviour. for this purpose, the finite element method was used to model ...

In this paper we show the identification of the dynamic parameters of a redundant flexible joint robot with a flexible bearing in the first joint. The bearing leads to distortions of the link velocities measured by gyroscopes. The bearing flexibility is not modeled explicitly, resulting in a very simple model. For the joint positions encoders are used. We show how to pack the calibration proble...

in investigation of dynamic specifications of castellated beams, it is necessary to be studied the excitation intensity of dynamic mode shapes for different loading conditions. it is evident that for a specific loading, not all modes of a structure are excited and the structural response depends on the applied loading specifications. in this paper using the finite element method (based on ansys...

This thesis presents a study of the effect of controllable riveting parameters, mainly squeeze force, rivet length, rivet diameter tolerance, hole countersunk depth and hole diameter tolerance, on the quality of formed rivet. The quality of a formed rivet is determined by the geometry of its head formation and the extent to which the hole is filled. The study determines maximum allowable tolera...

this study aims to numerically investigate on the crashworthiness of thin-walled square tubes by consideration of 3-d oblique loading. in this type of loading, direction of loading is defined by using two spatial angles relative to the position of the tube. to this aim, finite element (fe) analysis is employed to simulate the loading for 8 different numerical models with different loading orien...

This paper is concerned with the synthesis of dynamic model of the redundant manipulator robot based on Linear Parameter Varying approach. To evaluate its behavior and in presence of external disturbance several motions profiles are developed using a new algorithm which produce smooth trajectories in optimal time. The main advantages of this proposed approach are its robustness and its simplici...

The estimation of state variables plays a significant role in the control of flexible link robots. Flexible robots can have very complex dynamic vibrations during their operations. A vision sensor (i.e. camera) realizing a contactless measurement sensor can be used to measure the deformations. Unfortunatly effects like limited accuracy and time delay occur, which are the main inherent problems ...

the cracked brazilian disc (cbd) specimen is widely used in order to determine mode-i/ii and mixed-mode fracture toughness of a rock medium. in this study, the stress intensity factor (sif) on the crack-tip in this specimen is calculated for various geometrical crack conditions using the extended-finite element method (x-fem). this method is based upon the finite element method (fem). in this m...

Automatic, adaptive load balancing is essential for handling load imbalance that may occur during parallel finite element simulations involving mesh adaptivity, nonlinear material behavior and other localized effects. This paper demonstrates the successful application of a measurement-based dynamic load balancing concept to the finite element analysis of elasto-plastic wave propagation and dyna...