Due to their compliant structure, industrial robots without precision-enhancing measures are only a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause structure is backlash of transmission drives. This paper proposes method improve trajectory tracking accuracy by using secondary encoders applying feedback flatness based fe...

Introduction: Radiation therapy is the main treatment method for head and neck cancers, which comprise 3–5% of all cancers. A major side effect of this treatment is complication of the parotid glands, i.e. xerostomia, which occurs at relatively low doses. This complication leads to mouth dryness which is the most common problem for head and neck cancer survivors. There are dif...