A scaled bilateral control system for experimental 1-D teleoperated nanomanipulation applications
Onal, C.D.
Pawashe, C.
Sitti, M.
Carnegie Mellon Univ., Pittsburgh;
This paper appears in: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Publication Date: Oct. 29 2007-Nov. 2 2007
On page(s): 483-488
Location: San Diego, CA,
ISBN: 978-1-4244-0912-9
INSPEC Accession Number: 9862448
Digital Object Identifier: 10.1109/IROS.2007.4399263
Current Version Published: 2007-12-10
Abstract
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.
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
