In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

We study the conformations of polymer chains in a poor solvent, with and without bending rigidity, by means of a simple statistical mechanics model. This model can be exactly solved for chains of length up to N = 55 using exact enumeration techniques. We analyze in details the differences between the constant force and constant distance ensembles for large but finite N . At low temperatures, an...

High servo control response and high energy-efficiency are requested in hydraulic servo systems of current hydraulic machines. This investigation concurrently implements energy-saving control and velocity-force control for simultaneously realizing high velocity-force control response and high energy-efficiency for hydraulic valve-controlled cylinder systems. The velocity-force control of the hy...

In this paper, a simple and reproducible approach for attaching the multi-wall carbon nanotubes (MWNTs) to the apex of the atomic force microscope probe has been proposed. For this purpose, the dielectrophoresis method was applied due to its simple performance, cheapness and reliability. In this method, various parameters such as voltage, frequency, concentration of carbon nanotubes solution an...

Using polymer elastic theory and known RNA free energies, we construct a Monte Carlo algorithm to simulate the single RNA folding and unfolding by mechanical force on the secondary structure level. For the constant force ensemble, we simulate the force-extension curves of the P5ab, P5abc deltaA, and P5abc molecules in equilibrium. For the constant extension ensemble, we focus on the mechanical ...