Modelling and Adaptive Control of Nanowire-Driven Micromanipulators

摘要: The design problem of an adaptive controller for a robotic micromanipulator is considered in this article. micromanipulator's dynamic model appropriately modified order to include the interaction attractive Van der Waals (VdW) forces that are typically encountered microworld. For modelling purposes every link decomposed into series elementary particles (e.g. spheres), each one interacting with robot's neighboring objects during its motion. This induces nonlinear additive terms model, attributed primarily overall effect VdW---forces and secondarily by nanoscale friction. Sparked recent advancements nanowires actuation achieved nanowire-driven system tendon-like configuartion. At joint, pair attached act passive antagonistic manner. kinematic analysis mechanism offered. Consequently, microrobot's shown be linearly parameterizable. Subject observation, globally stabilizable control scheme derived, estimating unknown parameters (masses, generalized VdW---forces) compensating any variations those. Simulation studies on 2-DOF 10-DOF planar offered highlight effectiveness proposed scheme.