High-speed and high-precision position servo system of permanent magnet synchronous motor (PMSM) is the key part research development manipulator's joint. The active disturbance rejection control (ADRC) one commonly used methods in system, which has advantages fast speed easy physical realization. However, existing ADRC mostly adopts three-loop structure position-speed-current, some problems su...

Fault detection in robotic manipulators is necessary for their monitoring and represents an effective support to use them as independent systems. This present study investigates enhanced method representation of the faultless system behavior a robot manipulator based on multi-layer perceptron (MLP) neural network learning model which produces same real dynamic manipulator. The was generation re...

The trend to miniaturization in the field of consumer and investment goods is leading to increasing interest in the field of precision assembly of small components. Until now most machines for precision assembly have been many orders of magnitude larger than the workpieces to be handled or the necessary workspace. The Institute of Machine Tools and Production Technology of the Technical Univers...

In this paper, a new reinforcement learning scheme is developed for a class of serial-link robot arms. Traditional reinforcement learning is the problem faced by an agent that must learn behavior through trial-and-error interactions with a dynamic environment. In the proposed reinforcement learning scheme, an agent is employed to collect signals from a 0xed gain controller, an adaptive critic e...

A four degree-of-freedom (DOF) robotic mechanism can be used to manipulate objects in six DOF by using a gripper altered for two-point pivot grasping where the force of gravity is used for six DOF reorientation. We show that one pivot grasp is sufficient to rotate an ashlar-shaped object from known initial stable configuration into arbitrary final stable configuration. If the initial configurat...

An observer based control strategy is proposed for a flexible Cartesian (SCARA) Robot which is modeled as a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on the top surface of the flexible arm to apply a controlled moment for vibration suppression requirement. Utilizing three measurable quantities (i.e., the base displacement, arm tip...

A systematic way to combine adaptive control and sliding mode control (SMC) for trajectory tracking of robot manipulators in the presence of parametric uncertainties and uncertain nonlinearities is developed. Continuous sliding mode controllers without reaching transients and chattering problems are rst developed by using a dynamic sliding mode. Transient performance is guaranteed and globally ...

Xanthogranulomatous cholecystitis (XGC) is characterized by the infiltration of numerous foamy macrophages. Bacterial infection is thought to be involved in the pathogenesis of XGC. Using XGC and cultured murine biliary epithelial cells (BEC), the participation of E. coli and the role of the scavenger receptor class A (SCARA), as well as chemokine(C-X-C motif) ligand 16 (CXCL16) and its recepto...