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2007
IEEE

A scaled bilateral control system for experimental 1-D teleoperated nanomanipulation applications

10 years 6 months ago
A scaled bilateral control system for experimental 1-D teleoperated nanomanipulation applications
— 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.
Cagdas D. Onal, Chytra Pawashe, Metin Sitti
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Cagdas D. Onal, Chytra Pawashe, Metin Sitti
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