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Articles 121 - 122 of 122
Full-Text Articles in Engineering
Self-Assembly Of Microstructures, Paul E. Kladitis
Self-Assembly Of Microstructures, Paul E. Kladitis
Theses and Dissertations
Four areas are investigated in this research: erecting microstructures normal to the substrate plane without direct human intervention (self-assembled), providing low resistance electrical connections to the erected microstructure, realizing circular motion normal to the substrate plane, and implementing a micro-robot. The designs in this research concentrate on erecting and providing power to a leg designed for use with the micro-robot. The leg and the attached low resistance electrical connectors were not self-assembled because the accompanying actuators were not powerful enough. However, the novel connectors provide the most practical, versatile, and lowest possible resistance connections for the MUMPs fabrication process. The …
Robust Decentralised Variable Structure Control For Rigid Robotic Manipulators, Thasapalan Kuhan
Robust Decentralised Variable Structure Control For Rigid Robotic Manipulators, Thasapalan Kuhan
Theses : Honours
In this thesis, the problem of robust variable structure control for non-linear rigid robotic manipulators is investigated. Robustness and convergence results are presented for variable structure control systems of robotic manipulators with bounded unknown disturbances, nonlinearities, dynamical couplings and parameter uncertainties. The major outcomes of the work described in this thesis are summarised as given below. The basic variable structure theory is surveyed, and some basic ideas such as sliding mode designs, robustness analysis and control1er design methods for linear or non-linear systems are reviewed. Three recent variable structure control schemes for robotic manipulators are discussed and compared to highlight …