Modelling and adaptive control of tendon-driven micromanipulators in the presence of Van-der-waals forces

Athanasios Tsoukalas, Anthony Tzes

Research output: Contribution to journalConference articlepeer-review


In this article, the design problem of an adaptive controller for a robotic micromanipulator, including the effects of the applied Van der Waals (VdW) forces is considered. The micromanipulator's dynamic model is appropriately modified in order to include the interaction of the attractive VdW-forces. Inhere, every link is decomposed into a series of elementary particles (e.g. spheres), each one interacting with the robot's neighboring objects during its motion. This interaction induces nonlinear additive terms in the model, attributed to the overall effect of the VdW-forces. The actuation is achieved by a tendon-driven system. At each joint, a pair of tendons is attached and act in an almost passive antagonistic manner. The kinematic and dynamic analysis of the tendon-driven actuation mechanism is offered. Consequently, the microrobot's model is shown to be linearly parameterizable. Subject to this observation, a globally stabilizable adaptive control scheme is derived, estimating the unknown parameters (masses, generalized VdW-forces) and compensating any variations of those. Simulation studies on a 2-DOF micromanipulator are offered to highlight the effectiveness of the proposed scheme.

Original languageEnglish (US)
Article numberIMECE2004-59542
Pages (from-to)99-106
Number of pages8
JournalAmerican Society of Mechanical Engineers, Micro-Electro Mechanical Systems Division, (Publications) MEMS
StatePublished - 2004
Event2004 ASME International Mechanical Engineering Congress and Exposition, IMECE - Anaheim, CA, United States
Duration: Nov 13 2004Nov 19 2004

ASJC Scopus subject areas

  • General Engineering


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