摘要：Because of its ease of implementation,a linear PID controller is generally used to control robotic *** controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are *** sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the *** also has a very fast transient response that is desirable when controlling robotic *** most critical drawback to SMC is chattering in the control input *** solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the *** proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control *** kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was *** validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of *** results were simulated,tested,and compared in the MATLAB/Simulink *** further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.

摘要：Engineered Cementitious Composite (ECC) is a cement based material with ultra-high ductility and strength in tension. This material is a kind of highperformance fiber-reinforced cementitious composite materials (HPFRCCs) reinforced with short fibers and characterized by tight multiple cracking. These characteristics of ECC make it applicable to increase the capacity and the ductility of structural elements so that structural design is economic and sustainable. This paper presents an extended evaluation of Improved Engineered Cementitious Composites (IECC) for the use in the strengthening of masonry in filled reinforced concrete frames. IECC is a mixture of cement, fly ash, water, sand, quartz powder and poly-vinyl alcohol fibers with a better quality of tensile strain rather than common ECC. Two types of fine sand and quartz powder used in this study as filler to improve ECC behavior. Also, to show the effect of fly ash on IECC properties, five different mixtures were considered with various fly ash ratios. Different mixtures of IECC using fine aggregates produced in Iran were selected to find out how the aggregates and fly ash would affect IECC performance. The results show that the optimized mixture has the best characteristics including tensile strength and strain. Also, three-dimensional diagrams were used to compare the properties of different mixtures of IECC more effectively and to represent the influence of the range of fly ash ratios so that it can be opted based on design objectives such as ECC properties, costs and structural parameters and demands. These diagrams show the behavior of IECC which its fly ash content ratio in the binder is 50% to 67%.