This paper is devoted to the problem of force sensorless disturbance rejection in robot manipulators. In the proposed approach, the control system uses position sensor signals and estimated values of external forces, instead of force sensor signals. The estimation process is performed via an adaptive force estimator. Then the estimated force vector is utilized to compensate for the force distur...

Mini and micro robots, which can swim in an underwater environment, have drawn widespread research interests because of their potential applications to the clinical drug delivery, biotechnology, manufacturing, mobile sensor networks, etc. In this paper, a prototype of microrobot based on the motion principle of living microorganisms such as E. Coli Bacteria is presented. The properties of this ...

Based on the piezoelectric effect of piezoelectric quartz crystal, a two-dimensional force sensor with good dynamic characteristics is designed, whose sensitive component is single-cut piezoelectric quartz wafers, and it realizes the measurement of force by measuring the charge which is generated by piezoelectric quartz crystal. This paper analyzes measurement principle of the sensor based on t...

This paper discusses a novel dynamic resonant wall shear stress sensor concept based on an oscillating sensor operating near resonance. The interaction between the oscillating sensor surface and the fluid above it is modelled using the unsteady laminar boundary layer equations. The numerical experiment shows that the effect of the oscillating shear stress is well correlated by the Hummer number...