This paper explores two practical issues related to the force control of manipulators. The first issue examined is how system stability is effected by commonly occurring manipulator nonlinearities, such as sampled-data, control signal saturation and slip-stick friction. It is shown that discretely implemented force control algorithms can drive the feedback force controlled manipulator into a li...

Modulations of the friction force in dry solid friction are usually attributed to macroscopic stick-slip instabilities. Here we show that a distinct, quasistatic mechanism can also lead to nearly periodic force oscillations during sliding contact between an elastomer patterned with parallel grooves, and abraded glass slides. The dominant oscillation frequency is set by the ratio between the sli...

The resistance compensation, especially the friction compensation in the Bowden cable transmission is a difficult issue to be handled. Aimed to the resistance reduction requirement in the active rehabilitative motion, a resistance compensation control method is proposed. Based on the simplified transmission model, the resistance, including the cable friction as well as the mechanical moment of ...

We model friction acting on the tip of an atomic force microscope as it is dragged across a surface at nonzero temperatures. We find that stick-slip motion occurs and that the average frictional force follows (absolute value lnv)(2/3), where v is the tip velocity. This compares well to recent experimental work, permitting the quantitative extraction of all microscopic parameters. We calculate t...

Unlike the well known Amontons-Coulomb laws of dry friction, the recent precise experimental studies of low velocity friction dynamics provide sensitive tests for a theoretical description. We introduce a model, in which the friction force originates from multistability induced by interactions of individual pairs of asperities whose properties undergo a slow time evolution due to plastic creep ...

Friction at the molecular level is examined with a novel scanning probe microscope that observes the onset of energy dissipation and adhesive forces simultaneously. Friction is monitored by measuring the damped vibrational amplitude of an oscillating probe tip, analogous to shear-force feedback commonly used in near-field scanning optical microscopes. A mechanically stable interfacial force sen...

Friction force microscopy measurements of a polydiacetylene monolayer film reveal a 300% friction anisotropy that is correlated with the film structure. The film consists of a monolayer of the red form of N-(2-ethanol)-10,12-pentacosadiynamide, prepared on a Langmuir trough and deposited on a mica substrate. As confirmed by atomic force microscopy and fluorescence microscopy, the monolayer cons...

Chemical force microscopy (CFM) was used to probe interactions between ionizable and neutral functional groups in aqueous solutions. Force microscope probe tips and sample substrates have been covalently modified with self-assembled monolayers (SAMs) terminating in distinct functional groups. SAMs were prepared by treating Au-coated or uncoated tips and substrates with functionalized thiols or ...

Molecular dynamics simulation and atomic force microscopy are used to study the nature of friction between nanoscale tips and graphite step edges. Both techniques show that the width of the lateral force peak as the probe moves up a step is directly correlated with the size and shape of the tip. The origin of that relationship is explored and the similarities and differences between the measure...