Electrically driven deformations of nematic gels
نویسندگان
چکیده
منابع مشابه
Task-space Control of Electrically Driven Robots
Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...
متن کاملNematic nanotube gels.
We report the creation of nematic nanotube gels containing large domains of isolated, oriented, half-micron-long, single-wall carbon nanotubes (SWNTs). We make them by homogeneously dispersing surfactant coated SWNTs at low concentration in an N-isopropyl acrylamide gel and then inducing a volume-compression transition. These gels exhibit hallmark properties of a nematic: birefrigence, anisotro...
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This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...
متن کاملRobust Control of Electrically Driven Robots in the Task Space
In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
متن کاملRobust Fractional-order Control of Flexible-Joint Electrically Driven Robots
This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...
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ژورنال
عنوان ژورنال: Physical Review E
سال: 2005
ISSN: 1539-3755,1550-2376
DOI: 10.1103/physreve.71.051713