A Passive-Based Force Reflecting Algorithm for a Piezo-Actuated Macro-Micro Telemanipulation System
Publish place: Journal of Computer and Robotics، Vol: 3، Issue: 1
Publish Year: 1388
Type: Journal paper
Language: English
View: 394
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Document National Code:
JR_JCR-3-1_007
Index date: 13 January 2018
A Passive-Based Force Reflecting Algorithm for a Piezo-Actuated Macro-Micro Telemanipulation System abstract
Piezoelectric actuators are widely used in micro manipulation applications. However hysteresis nonlinearity limits accuracy of these actuators. This paper presents a novel approach utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. A passive coordination control which uses the new outputs to state synchronize the master and slave robots in free motion is extended to achieve position coordination in contact tasks. The proposed approach uses force feedback using a passivity of the systems and Lyapunov stability methods; the asymptotic stability of force reflecting teleoperation with communication delay and position/force scaling is proven. Performance of the proposed controllers is verified through experiments.
A Passive-Based Force Reflecting Algorithm for a Piezo-Actuated Macro-Micro Telemanipulation System Keywords:
A Passive-Based Force Reflecting Algorithm for a Piezo-Actuated Macro-Micro Telemanipulation System authors
M Zareinejad
Department of Engineering, Islamic Azad University of. Islamshahr (IAUI), Islamshahr, Tehran, Iran
Saeed Shiry Ghidary
Department of Computer Engineering, Amirkabir University of Technology, Tehran, Iran
S. M Rezaei
Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran