Adaptive motion, internal force, and external contact force control of multiple manipulators handling a constrained object is solved in this paper. Parametric uncertainties may exist in the manipulators and in the object as well as in the friction coeficients of contact surfaces. A set of transformed dynamic equations are obtained in the joint space, in which internal force and external contact...

The paper reports an experimental study of the adhesive contact between liquid-bridged hydrogel microparticles. A novel nanomechanical tester has been developed to measure both force-approach curves at sub-micro resolutions as well side-view images two agarose spheres during pull-off. Meanwhile, JKR theory extended quantify work adhesion solid-liquid-vapor interface and Young’s modulus particle...

Friction forces in the tip-sample contact govern the dynamics of contact mode atomic force microscopy. In ambient conditions typical contact radii between tip and sample are in the order of a few nanometers. In order to account for the large interaction area the dynamics of contact mode atomic force microscope (AFM) is investigated under the assumption of a multi-asperity contact interface betw...