A teleoperation system for micro positioning with haptic feedback
A teleoperation system for micro positioning with haptic feedback
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DOI：
10.1007/s12555-012-0139-5
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发表时间：
2013-08
期刊：
影响因子：
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通讯作者：
R. Seifabadi;S. M. Rezaei;S. S. Ghidary-S.;M. Zareinejad
中科院分区：
文献类型：
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作者：
R. Seifabadi;S. M. Rezaei;S. S. Ghidary-S.;M. Zareinejad
本文介绍了一个1自由度（DOF）的宏微遥操作系统，使人类操作员执行复杂的任务，如细胞插入与触觉反馈的能力，在微观环境中的研究工作。为了达到亚微米的分辨率，纳米运动的压电致动器被用作从机器人和伺服直流电机被用作主机器人。力传感器实现在两端的触觉反馈和显微镜配备摄像头用于实时视觉反馈。采用LuGre摩擦模型对压电马达的迟滞非线性进行建模和补偿。在从机侧设计了一个基于滑模的阻抗控制器（SMBIC），以确保位置跟踪，而在主机侧设计了一个阻抗力控制器，以确保力的跟踪。基于Llewellyn稳定性准则选择控制参数，使得整个系统在参数不确定性和恒定时滞的情况下保持稳定。实验结果表明，所提出的控制框架在理想的跟踪的位置和力信号，而整个系统保持稳定的能力。本研究的结果可用于微米环境下的复杂任务，如细胞插入。
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 Controller (SMBIC) was designed at the slave side to ensure position tracking while an impedance force controller was designed at the master side to ascertain tracking of the force. Control parameters were chosen based on Llewellyn stability criteria such that the entire system stays stable against parameter uncertainties 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 remained stable. The results of this study can be used for complex tasks in micron environment such as cell insertion.