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A scaled bilateral control system for experimental 1-D teleoperated nanomanipulation applications

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3 Author(s)
Cagdas D. Onal ; Carnegie Mellon University, NanoRobotics Laboratory, Department of Mechanical Engineering, Pittsburgh, PA 15213, USA ; Chytra Pawashe ; Metin Sitti

In this work, teleoperated nanomanipulation with force feedback is demonstrated by using an atomic force microscope on the slave side and a haptic device on the master side. Three main topics are addressed that are especially relevant for teleoperation at these scales: transparency, impedance reflection according to human perception, and stability. The proposed passivity based bilateral control scheme provides a stable means of teleoperation with an adaptive force scaling factor according to impedance limits that can be set by the operator and as transparent as possible. As a result, a robust platform to perform teleoperated nanomanipulation on a broad range of materials is achieved. Performance of the resulting bilateral controller is demonstrated in experimental results for simple vertical nanomanipulation touching experiments on glass and polydimethylsiloxane substrates.

Published in:

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 29 2007-Nov. 2 2007