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A Novel Approach for the Design of a 1-DOF Nano-Telemanipulation System Involving a Virtual Slave and Environment Based on Passivity and Coupled Stability Theory

[+] Author Affiliations
S. Samadzade, M. Habibnejad Korayem

Islamic Azad University Science and Research Branch, Tehran, Iran

N. Sarli

Amirkabir University of Technology, Tehran, Iran

Paper No. IMECE2010-40570, pp. 309-314; 6 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 10: Micro and Nano Systems
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4447-2
  • Copyright © 2010 by ASME


In a typical passivity-based controller design for a teleoperation task, a passive environment is frequently postulated. This assumption does not hold for nano environments and numerous researches in nano-telemanipulation have attributed this to the substantial van der Waals and capillary forces with respect to inertial forces in nanocosm. This non-passivity diminishes the applicability of most passivity-based methods for controller design unless the reflection of this active behavior to the operator is ignored. The focus of this paper is to present a control structure for an AFM-based telemanipulation system capable of addressing the three main issues in a fine fashion: stability, transparency and human perception. Specifically guaranteeing stability on the premise that the environment is non-passive is the main concern and treated by designing a suitable virtual coupling and haptic interface.

Copyright © 2010 by ASME
Topics: Stability , Design



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