A Passive-Based Force Reflecting Algorithm for a Piezo-Actuated Macro-Micro Telemanipulation System
الموضوعات : Journal of Computer & RoboticsM. Zareinejad 1 , Saeed Shiry Ghidary 2 , S. M. Rezaei 3
1 - Department of Engineering, Islamic Azad University of. Islamshahr (IAUI), Islamshahr, Tehran, Iran
2 - Department of Computer Engineering, Amirkabir University of Technology, Tehran, Iran
3 - Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran
الکلمات المفتاحية: Telemanipulation, Passivity control, Piezo-electric actuators, Passive coordination control,
ملخص المقالة :
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.
[1] M. Zareinejad, S.M. Rezaei, S.S. Ghidary and A. Abdullah,
Development of a piezo-actuated micro-teleoperation system for cell
manipulation, International Journal of Medical Robotics and
Computer Assisted Surgery, 5: pp. 66–76, 2009.
[2] M. Zareinejad, S.M. Rezaei,H.H. Najafabadi, S.S.Ghidary, A.
Abdullah and M. Saadat, Novel multirate control strategy for
piezoelectric actuators. Proc. IMechE, Part I: J. Systems and Control
Engineering, 223 (5), pp. 673-682, 2009.
[3] S.-G. Kim and M. Sitti, Task-based and stable telenanomanipulation in
a nanoscale virtual environment, IEEE Trans. on AutomationScience
and Engineering, vol. 3, no. 3, pp. 240–247, July 2006.
[4] S.Khan, A.Sabanovic and A.O.Nergiz, Scaled bilateral teleoperation
using discrete-time sliding mode controller, IEEE Trans. on Industrial
Electronics, 2009.
[5] P. F. Hokayem and M. W. Spong, Bilateral teleoperation: An historical
survey, Automatica, vol. 42, no. 12, pp. 2035-2057, 2006.
[6] R. J. Anderson and M. W. Spong, Bilateral control of teleoperators
with time Delay, IEEE Trans. Automat. Control, vol. 34, no. 5, pp.
494- 501, 1989.
[7] G. Niemeyer and J. J. E. Slotine, Stable adaptive teleoperation IEEE J.
Oceanic Eng., vol. 16, no. 1, pp. 152 - 162, 1991.
[8] D. Lee and M. W. Spong, Passive bilateral teleoperation with constant
time delay, IEEE Trans. Robot, vol. 22, no. 2, pp. 269-281, 2006.
[9] F. Bullo and K. Fujimoto (Eds.), Lecture Notes in Control and
Information Sciences, Vol. 366, Springer Verlag, pp. 47-59, 2007.
[10] N. Chopra, M.W. Spong, and R. Lozano, Synchronization of bilateral
teleoperators with time Delay, Automatica, vol. 44,Issue 8, pp. 2142-
2148, 2008.
[11] R. Ortega, Passivity-based control of euler-lagrange systems:
mechanical, electrical and. electromechanical applications. Springer-
Verlag, London, 1998.
[12] Sepulchre, M. Jankovi´c, and P. Kokotovi´c. Constructive nonlinear
control. Springer-Verlag, London, 1997.
[13] K. Kuhnen and P. Fabio, Modeling, identification and compensation of
complex hysteretic nonlinearities: A modified Prandtl-Ishlinskii
approach. European journal of control, 2003, pp. 407-421.
[14] T. Kailath, A. H. Sayed and B. Hassibi, Linear Estimation. Prentice
Hall; 1st edition, New Jersey, 2000.
