In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

s:2987:"Although the definition of abortion is pregnancy loss under 20 weeks of gestational age, in Islamic law, termination pregnancy in any gestational age is considered abortion "SEGHT JANIN". Also only "induced abortion" has legal validity, and other kinds of miscarriage (recurrent, missed,…) have no legal or ethical issue. In Iran, Islam is the base of the law. Article 4 of Iran constituti...

Introduction.........................................................................................406 I. Background: Egg Donation at Law and Related Legal Developments ............................................................................412 A. A Brief History of Egg Donation........................................412 B. Egg Donation in the Courts .........................................

introduction: to draw a general picture of the current iranian-law and shiah fiqh position as to the assisted reproduction: -whether allowed or not, - and, to show how and what changes could occur in this field. materials and methods: examination of the iranian legislation and judicial decisions, consideration of jurisprudential verdicts of the eminent shiah jurists and interpretation of the or...

determining the governing law on obligations of the commercial instruments ,and what criteria existsfor determining the governingin law inthe case of their mutual agreement or silence , is one of the most significant problems with which the investigator faces. in this article, it was attempted to examine the theories used for determining the qualified law of obligations of the commercial instru...

Background: In order to protect the environment, humans are required to comply with environmental ethics, as set forth in environmental laws. Unfortunately, oil pollution has had many negative impacts on the Earth's environment in recent years, so various countries have been examining and deciding on new environmental laws over many years. Many decisions overlap with international law and have ...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....