this paper presents a gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. to study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. the adaptation laws of designed controller are obtained based on sliding m...

background:  the glenohumeral joint becomes dislocated more than any other major joint because it maintains a wide range of motion and its stability is inherently weak. the most common complication following acute initial shoulder dislocation is recurrent dislocation or chronic instability. imbalance of strength and range of motion in individuals with anterior dislocation can be a contributing ...

background: generalized joint hyper mobility predisposes some individuals to a wide variety of musculoskeletal complaints. given the critical role of scapular position in function of shoulder, the aim of this study was to compare scapular position between persons with and without general joint hyper mobility. methods: by nonprobability sampling 30 hyper mobile persons at average of 22.86 ±2.77 ...

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...

In our previous research, we experimentally implemented and evaluated the effect of dynamics compensation in model-based 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 de...

In this paper, a modified two-step compliance control method for robot hands is proposed: resolved interfinger decoupling solver (RIFDS) and resolved interjoint decoupling solver (RIJDS). For this, we first investigate how many fingers are necessary to successfully implement stiffness characteristics in the operational space. RIFDS is then proposed to decompose the desired compliance characteri...

this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...

Virtual remote laboratories have already been successfully implemented in educational centers for practical learning of mechatronics and robotic systems. This article presents the development a virtual articulated UR-type robot, designed as an tool that is suitable programming evaluating both inverse kinematics control robot independent joints. The 3D model was developed Blender V2.79 software ...