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Teleoperated 3‐DOF micromanipulation system with force feedback capability: design and experiments

Adha Imam Cahyadi (Department of Precision Engineering, Tokai University, Hiratsuka, Japan)
Yoshio Yamamoto (Department of Precision Engineering, Tokai University, Hiratsuka, Japan)

Industrial Robot

ISSN: 0143-991x

Article publication date: 20 June 2008

Abstract

Purpose

The purpose of this paper is to present a design and verification through experiments of teleoperation of the 3 degrees‐of‐freedom micromanipulation system (MMS), in laboratory conditions.

Design/methodology/approach

The MMS is constructed from piezoelectric actuators sited in a flexure hinge mechanism. The nonlinearity, especially hysteresis, due to a voltage steering scheme is compensated for, via a second‐order Dahl friction model. A simple mechanical model is then constructed to capture the behavior of the MMS. Redundant force feedback sensors are applied to the MMS in order to achieve flexible operation via the so‐called fault‐tolerancing mechanism. Finally, a teleoperation scheme based on passivity formalism is proposed to achieve a stable teleoperation system.

Findings

The hysteresis curve due to voltage steering can be minimized. The fault‐tolerancing concept using redundant sensors for comfortable use of the MMS has been successfully performed. The teleoperated MMS via a commercially available PHANToM® has been conducted under ineligible telecommunication channel delay.

Originality/value

The details of design, modelling and experimentations of the teleoperation of the MMS should promote the applicability of similar systems in the future.

Keywords

Citation

Imam Cahyadi, A. and Yamamoto, Y. (2008), "Teleoperated 3‐DOF micromanipulation system with force feedback capability: design and experiments", Industrial Robot, Vol. 35 No. 4, pp. 337-346. https://doi.org/10.1108/01439910810876436

Publisher

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Emerald Group Publishing Limited

Copyright © 2008, Emerald Group Publishing Limited