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This work describes the influence of temperature on the identification of the dynamic model of an industrial manipulator. The tests show that the joint friction changes during the robot operation. The variation is due to the heat generated by friction. A model is used to estimate the temperature and related friction variation. Experimental data collected on an industrial robot are discussed. Repetitive tests performed on different days showed that the inertial and friction parameters can be robustly estimated.

The development of a model for the prediction of the friction in robotic joints by taking into account the working condition is a crucial task for many applications including: predictive maintenance, identification of impact without force sensors, human-robot interaction without force sensors, implementation of virtual force sensors, and others. However, such a model is not easy to develop because friction depend on many factors including velocity and temperature. On the basis of theoretical and experimental studies on different industrial manipulators, this paper explores this field showing the main factors influencing the friction and giving a solid base for the development of suitable predictive models., https://youtu.be/w05IKC5GOC0

Mucuna pruriens seeds have been widely used against snakebite in traditional medicine. The antivenin property of a water extract of seeds was assessed in vivo in mice. The serum of mice treated with extract was tested for its immunological properties. Two proteins of Echis carinatus venom with apparent molecular masses of 25 and 16 kDa were detected by Western blot analysis carried out using IgG of mice immunized with extract or its partially purified protein fractions. By enzymatic in-gel digestion and electrospray ionization-mass spectrometry/mass spectrometry analysis of immunoreactive venom proteins, phospholipase A(2,) the most toxic enzyme of snake venom, was identified. These results demonstrate that the observed antivenin activity has an immune mechanism. Antibodies of mice treated with non-lethal doses of venom reacted against some proteins of M. pruriens extract. Proteins of E. carinatus venom and M. pruriens extract have at least one epitope in common as confirmed by immunodiffusion assay.