IJCAS

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.