introduction: the purpose of this study was to compare the accuracy of the torque wrenches used in different dental implant systems. methods: we evaluated 42 torque wrenches used in different dental clinics in mashhad, iran, using a digital torque meter (mark 10). high (25, 30 and 35 n·cm) and low (15 n·cm) levels of torque were examined. ten tests were performed on each wrench, and the mean va...

The aim of this study was to investigate the association between the rate of torque development and maximal motor unit discharge frequency in young and elderly adults as they performed rapid submaximal contractions with the ankle dorsiflexors. Recordings were obtained of the torque exerted by the dorsiflexors during the isometric contractions and the surface and intramuscular electromyograms (E...

In our previous research, we experimentally implemented and evaluated the effect of dynamics compensation in modelbased control algorithms. In this paper, we evaluate the effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a dec...

The manipulator trajectory tracking control problem revolves around computing the torques to be applied to achieve accurate tracking. While this problem has been extensively studied in simulations, the real-time results have been lacking in the robotics literature. In this paper, we present the experimental results of the real-time performance of model-based control algorithms. We compare the c...

A new concept for controlling of underactuated robot manipulators is presented by using switching computed torque method. One fundamental feature of the present approach is to use the partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Dynamic model of an underactuated robot system is directly analyzed to synthesize partly stable, computed torque controllers wit...

Abstract: A hybrid machine (HM) as a typical mechatronic device, is a useful tool to generate smooth motion, and combines the motions of a large constant speed motor with a small servo motor by means of a mechnical linkage mechanism, in order to provide a powerful programmable drive system. To achieve design objectives, a control system is required. To design a better control system and analyze...

In this paper a comparison of classical, adaptive and neural control strategies for a robotic manipulator with two revolute joints is presented. The conventional computed-torque method is presented, as a starting point for the design of the adaptive and neural control techniques. Two adaptive control strategies, a non-model based neural control strategy and a model based neural control strategy...

The basic robot control technique is the model based computed-torque control which is known to suuer performance degradation due to model uncertainties. Adding a neural network (NN) controller in the control system is one eeective way to compensate for the ill eeects of these uncertainties. In this paper a systematic study of NN controller for a robot manipulator under a uniied computed-torque ...

Neural networks are applied to the system identification problems using adaptive algorithms for either parameter or functional estimation of dynamic systems. In this paper the neural networks' sensitivity to input values and connections' weights, is studied. The Reduction-Sigmoid-Amplification (RSA) neurons are introduced and four different models of neural network architecture are proposed and...

his paper presents modelling and control of highly nonlinear dynamics parallel manipulator system using neural network-based gain tuning technique in a model-based feedback linearization controller. Adaptive gain tuning approach is implemented for conventional computed torque control scheme. The proposed controller has very simple structure and takes little computational time while tracking a t...