Oblique coordinate based micro-macro bilateral control using a piezoelectric cantilever

Yoshitomo Matsumi, Yu Nakajima, Shinnosuke Yamaoka, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, oblique coordinate based micro-macro bilateral control using a piezoelectric cantilever is proposed. Haptic feedback is provided to an operator through the system utilizing a reaction force observer (RFOB) taking hysteresis and linear dynamics of the piezoelectric cantilever into account. Scaling of the position and the force enables operator to manipulate micro objects, and to feel the slight reaction force from the objects. RFOB makes it possible to estimate the reaction force without force sensors. Oblique coordinate based control indicates how to tune the gain ratio between a master robot and slave robot when the actuator of the master robot is different from that of salve. An experiment is conducted to verify the proposed method by using a linear motor and a piezoelectric cantilever. The results showed that the operator could feel the reaction force applied to the slave robot which was scaled up 500 times. It also showed precise position tracking with the error of ±1.1 μm. The force estimation on the piezoelectric cantilever was achieved with error of only ±0.003 N.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages168-173
Number of pages6
DOIs
Publication statusPublished - 2013 Jul 1
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Matsumi, Y., Nakajima, Y., Yamaoka, S., & Ohnishi, K. (2013). Oblique coordinate based micro-macro bilateral control using a piezoelectric cantilever. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 168-173). [6518530] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6518530