In the last decades, classical verification of robotic software component is postponed until code developed enough to function in real hardware. For this reason, at early stages essential reduce development costs and necessary time for embedded systems such as robot manipulator. Therefore, Software Loop (SIL) simulation may be realized development. It offers possibility execute tests before hardware available thus detect errors. paper, we propose a test manipulator driven by Brushless DC...

The grown complexity of the robot manipulators dynamics taking into account jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult complex to synthesize. This paper focuses on investiga-tion backstepping control flexible joint manipulator driving by Brushless DC Motor(BDCM) in presence fortracking trajectory. goal this is compensate all distur-bances for manipulator. To study effectiveness controllers, backstep-ping...

Robot manipulators are widely used in industries. The raised complexity of robot dynamics considering actuator part makes control strategies hard to be designed and verified. In fact, the design verification have achieved a special attention via Matlab Simulink environment tool. However, high time simulation is an essential drawback this tool due robotic system complexity. This paper proposes Hardware Software Loop (HSIL) technique FPGA board for two degrees driven by Brushless DC Motor...

As systems become increasingly complex, their simulation techniques have to be more accurate and enhanced. Despite the wide use of robotic arms in industries, they still encompass a number complexities. The control flexible robot arm driven by Brushless DC Motor (BDCM) for tracking problems is great challenge, not only its complex algorithms but also verification process. Robotic are designed heterogeneously combining continuous event discrete models. Therefore, computer-aided engineering...

The robot manipulators have crossed several areas of research especially in the industries. In fact, development systems generally require iterations, which may be based on a simulation approach, by providing physical prototype or combination them. On one hand, using should take into account not only modeling robot, but also that its actuators. Unfortunately, model whole system inaccurate due complexity. other realization to overcomes problems insufficient knowledge and imprecision...

In this paper, a comparison between PI and sliding mode control is proposed for the flexible joint manipulator driving by Brushless DC motor (BDCM)to improve performance in presence of errors parameters identification. First, model was presented. Then, studied designed tracking problem single manipulator. Besides, also same problem. Finally, those strategies are implemented Matlab-Simulink environment to show high performances comparative study different controllers achieved. Although...

Flexible joint manipulators are widely used in industries. The harmonic drive is often token as rigid component the mechanical arm control. Nevertheless, several studies have shown that flexibility characteristic manipulator seriously reduces performance of whole system especially when including actuator dynamic. This paper proposes a back-stepping method to control flexible dynamic obtain desired trajectory with minimum vibration. controller achieved by analysis Lyapunov stability guarantee...

The evolution and the complexity of robot systems are widely increasing nowadays, this is especially shown in their long simulation time. So, an interest devoted to study Brushless DC Motor which represents most adequate actuator for systems. In fact, has achieved a big breakthrough thanks its robustness, rapidity, cleanliness, accuracy high efficiency many industrial applications. To guarantee device under test with whole automation system, controller design presented paper. Precision...

The corona virus, known as COVID19 has hit the world very hard at 2020, causing worldwide lockdown and forcing people to use online tools continue working remotely maintain economy. Educational institutions have not been spared either: preserve students' health, teaching mode switched from in-person teaching. Schools universities cope with this change in a short period of time embrace it ensure continuity learning process. This paper presents case study where authors illustrate their own...

xperiencing alienation and displacement exiled writers have a specific relationship to the past. “Haunted by sense of loss, some urge reclaim look back” (Rushdie 10), these souls who lead liminal existence between lost past foreign present cannot but inscribe in their fictions. Indeed for them, inscription is prerequisite restoration damaged selves histories. Perceiving things from shaky “fractured perceptions” (12), while overwhelmed nostalgia homesickness, “wounded creatures” 12) end up...