This paper introduces a smooth control algorithm for controlling fully actuated distributed manipulation systems that operate by frictional contact. The control law scales linearly with the number of actuators and is simple to implement. Moreover, we prove that control law has desirable robustness properties in the presence of the nonsmooth mechanics inherent in distributed manipulation systems...

In this paper we consider a problem of frictional contact between an elastic body and an obstacle. The elastic constitutive law is assumed to be nonlinear. The contact is modeled with normal compliance and the associated version of Coulomb's law of dry friction. We present two alternative yet equivalent weak formulations of the problem, and establish existence and uniqueness results for both fo...

This paper presents a new integral approximation of frictional contact problems under finite deformations and large sliding. Similar to other augmented Lagrangian based formulations, the proposed method expresses impenetrability, friction and the relevant complementarity conditions as a non-smooth equation, consistently linearized and incorporated in a generalized Newton solution process. Howev...

Ultra high molecular weight polyethylene (UHMWPE) submicron wear debris particles in total joint replacement (TJR) prosthesis have been observed clinically to cause osteolysis. In this study, the formation of UHMWPE submicron wear debris was investigated by modeling a nanoscale asperity on the surface of a CoCr femoral component of a total knee replacement (TKR) prosthesis using a Si3N4 AFM com...