Regular Papers

International Journal of Control, Automation and Systems 2013; 11(4): 768-775

Published online August 2, 2013

https://doi.org/10.1007/s12555-012-0139-5

© The International Journal of Control, Automation, and Systems

A Teleoperation System for Micro Positioning with Haptic Feedback

Reza Seifabadi, Seyed Mehdi Rezaei, Saeed Shiry Ghidary, and Mohammad Zareinejad

Johns Hopkins University

Abstract

This paper presents the research work on a 1 Degree of Freedom (DOF) macro-micro teleoperation system which enables human operator to perform complex task in micro environment such as cell insertion with the capability of haptic feedback. To reach submicron resolution, a nano-motion piezo actuator was used as the slave robot and a servo DC motor was used as the master robot. Force sensors were implemented at both ends for haptic feedback and a microscope equipped with camera was employed for real-time visual feedback. The hysteresis nonlinearity of the piezo motor was modeled using LuGre friction model and compensated for. A Sliding Mode Based Impedance Control-ler (SMBIC) was designed at the slave side to ensure position tracking while an impedance force con-troller was designed at the master side to ascertain tracking of the force. Control parameters were cho-sen based on Llewellyn stability criteria such that the entire system stays stable against parameter un-certainties and constant time delay. The experimental results demonstrated capability of the proposed control frameworks in desirable tracking of the position and force signals while the entire system re-mained stable. The results of this study can be used for complex tasks in micron environment such as cell insertion.

Keywords Hysteresis, impedance control, LuGre model, macro-micro teleoperation, piezo, position and force tracking, sliding mode control, time delay.

Article

Regular Papers

International Journal of Control, Automation and Systems 2013; 11(4): 768-775

Published online August 1, 2013 https://doi.org/10.1007/s12555-012-0139-5

Copyright © The International Journal of Control, Automation, and Systems.

A Teleoperation System for Micro Positioning with Haptic Feedback

Reza Seifabadi, Seyed Mehdi Rezaei, Saeed Shiry Ghidary, and Mohammad Zareinejad

Johns Hopkins University

Abstract

This paper presents the research work on a 1 Degree of Freedom (DOF) macro-micro teleoperation system which enables human operator to perform complex task in micro environment such as cell insertion with the capability of haptic feedback. To reach submicron resolution, a nano-motion piezo actuator was used as the slave robot and a servo DC motor was used as the master robot. Force sensors were implemented at both ends for haptic feedback and a microscope equipped with camera was employed for real-time visual feedback. The hysteresis nonlinearity of the piezo motor was modeled using LuGre friction model and compensated for. A Sliding Mode Based Impedance Control-ler (SMBIC) was designed at the slave side to ensure position tracking while an impedance force con-troller was designed at the master side to ascertain tracking of the force. Control parameters were cho-sen based on Llewellyn stability criteria such that the entire system stays stable against parameter un-certainties and constant time delay. The experimental results demonstrated capability of the proposed control frameworks in desirable tracking of the position and force signals while the entire system re-mained stable. The results of this study can be used for complex tasks in micron environment such as cell insertion.

Keywords: Hysteresis, impedance control, LuGre model, macro-micro teleoperation, piezo, position and force tracking, sliding mode control, time delay.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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