Modern control engineering (3rd ed.)
Modern control engineering (3rd ed.)
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Passive bilateral control and tool dynamics rendering for nonlinear mechanical teleoperators
IEEE Transactions on Robotics
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
Adaptive wavelet neural network control with hysteresis estimation for piezo-positioning mechanism
IEEE Transactions on Neural Networks
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This paper presents the research work on a 1 degree of freedom (DOF) force reflecting tele-micromanipulation system. This system enables a human operator to position remote objects very precisely having haptic feedback. The slave robot is a nano-positioning piezo-actuator with hysteretic dynamics. This intrinsic nonlinearity results in positioning inaccuracy and instability. Hence, a LuGre friction model is employed to model and compensate for this undesirable behavior. By means of a transformation, the 2-DOF master–slave system (1-DOF each) is decomposed into two 1-DOF new systems: the shape system, representing the master–slave position coordination, and the locked system, representing dynamics of the coordinated system. A key innovation of this paper is to generalize this approach to the hysteresis-type nonlinear teleoperated systems. For the shape system, a position tracking controller is designed in order to achieve position coordination. This position coordination is guaranteed not only in free space motion, but also during contact at the slave side. Furthermore, a force tracking controller is designed for the locked system in order to achieve tracking of the force exerted on the master and slave robots. Using this force controller, transparency is remarkably enhanced. Based on the virtual flywheels concept, passivity of the closed-loop teleoperator is guaranteed against dynamic parameter uncertainties and force measurement inaccuracies. The simulation and experimental results verify the capability of the proposed control architectures in achieving high-level tracking of the position and force signals while the system remains stable.