conclusions use of flexible joint in the exhaust system leads to conversion of linear vibration to non-linear one, resulting in significant reduction of noise levels. results by using this new exhaust at speed levels of 1000, 2000, 3000, 4000, and 5000 rpm, we had respectively 3.9, 6.8, 7.4, 5.6, and 5 dba decreases in total sound level pressure. objectives this study aimed to reduce motorcycle...

we present a case report of acute spontaneous knee hemarthosis due to erosion of the nail through the knee joint capsule in a boy, seven months following retrograde flexible nailing for fractured femur. careful positioning of the location of the insertion site of flexible nails and proper nail tip management are important to avoid this rare late complication.

In this paper, a class of second-order nonlinear cascade control systems is considered. Under certain structural assumptions, it is proven that these systems are exactly linearizable via nonregular static state feedbacks and state diffeomorphisms. Linearizing input transformations and the corresponding state diffeomorphisms are presented. Finally, nonregular static feedback linearization is app...

This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turned out to be of high practical relevance during applications are then addressed, such as the implementation of nullspace stiffness for redundant manipulators, the avoiding of mass matrix decoupling and the related design o...

Abstract It is complex and time-consuming for obtaining accurate dynamics of industrial robots. The flexibility the joint not only increases adverse effects nonlinear factors, but also makes controller design robot significantly difficult. In order to improve performance robots containing flexibility, cooperative learning (COL) theory proposed in this paper. Based on theory, a model-free intell...

This paper focuses on the issue of tracking the trajectory of a flexible arm. The purpose is to ensure the flexible arm follows the desired path in the joint space. To achieve our objective, we have three problems to solve: modeling, control, and trajectory planning. As in the case of rigid robots, the EulerLagrange formulation remains valid with the exception of dividing the flexible arm into ...

Machines and robots in the near future will share environments, and often come directly in touch with humans. This is to happen in several applications domains, including domestic applications (domotics), entertainment, assistance , cooperative manipulation tasks, teleoperation, human augmentation, haptic interfaces and exoskeletons. Physical Human-Robot Interaction (pHRI) poses many challenges...

This paper focuses on the issue of tracking the trajectory of a flexible arm. The purpose is to ensure the flexible arm follows the desired path in the joint space. To achieve our objective, we have three problems to solve: modeling, control, and trajectory planning. As in the case of rigid robots, the EulerLagrange formulation remains valid with the exception of dividing the flexible arm into ...