This paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dy...

simultaneous dislocation of both interphalangeal (ip) joints of same finger is a highly uncommon finding. and dislocation of metacarpophalangeal (mcp) joint along with interphalangeal joints of thumb are reported in literatures if, scarcely. here we are reporting the three cases, comprising of double dislocation of ip joints in little finger in two patients and simultaneous mcp and ip joint dis...

In this paper, static analysis of functionally graded annular plate resting on elastic foundation with various boundary conditions is carried out by using a semi-‍analytical approach‍ (SSM‍-DQM). The differential governing equations are presented based on the three dimensional theory of elasticity. The plate is assumed isotropic at any point, while material properties to vary exponentially thro...

the present study is the first to analyze the dynamic response of a poroelastic beam subjected to a moving force. moreover, the influences of attached mass-spring systems and non-ideal supports (with local movements in the supporting points or base due to the presence of factors such as gaps, unbalanced masses, and friction or seismic excitations) on the responses were investigated. non-ideal s...

The number of joints existing in the rock affects elastic modulus rock, and relationship has not been obtained. In this paper, 10 numerical models are established by simulations to study effect parallel on size modulus. research shows that there is a power function between joints, negative exponential size, their special mathematical given. paper also obtains form relationships characteristic m...

We consider planning and control problems for underactuated manipulators, a special instance of mechanical systems having fewer input commands than degrees of freedom. This class includes robots with passive joints, elastic joints, or flexible links. Structural control properties are investigated, showing that manipulators with passive joints in the absence of gravity are the most difficult to ...

Objectives: Nowadays, Snap-fits are used in the automotive industry as a proper alternative for mechanical joints, cabling joints, and car interior lining joints. Due to the special form of these joints, which are assembled manually, the contact area between Snap-fits and the worker’s fingertips can be too small. This can cause skin pain on the worker’s  fingertips. Therefore, ...