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Control, Scaling and Stability Analysis of Teleoperated One-Dimensional Micro/Nano-Manipulation Systems

Motamedi, Mohammad | 2010

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40392 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Ahmadian, Mohammad Taghi; Vossoughi, Gholamreza
  7. Abstract:
  8. In this paper, a novel control approach for one-dimensional bilateral teleoperated nanomanipulation system is proposed. While manipulating objects with a nanomanipulator, real time visual feedback is not available. So, force feedback is used to compensate for the lack of visual information. Since nanometer scale forces are dominated by surface forces instead of inertial forces as in macro world, scaling of nanoforces is one of the major issues of teleoperation system. The Hertz elastic contact model is used to model the interactions between the slave robot and the environment. The proposed framework uses the simple proportional derivative control, i.e., the master and slave robots are connected via a virtual spring and damper. Using the control passivity concept, the combination of the communication and control blocks can be passified altogether. The outcome is a robust platform to perform teleoperated nanomanipulation on a broad range of materials. The proposed approach enforces master-slave position coordination and enables the human operator to affect and sense the remote slave environment relying on his/her musculoskeletal systems. Simulations are performed to validate the proposed control approach. Piezoelectric actuators are widely used in micro manipulation applications. However, hysteresis nonlinearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as the slave manipulator of a teleoperation system based on a sliding mode controller. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. The presented approach requires full state and force measurements at both the master and slave sides. Such a system is costly and also difficult to implement. Therefore, sliding mode unknown input observer (UIO) is proposed for full state and force estimations. Furthermore, the effects of uncertainties in the constant parameters on the estimated external forces should be eliminated. So, a robust adaptive controller is proposed and its stability is guaranteed through the Lyapunov criterion. Performance of the proposed control architecture is verified through experiments.
  9. Keywords:
  10. Piezoelectric ; Passivity ; Nanomanipulation ; Bilateral Teleoperation ; Unknown Input Observer

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