title: Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators.
abstract: This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm.
authors.affiliation: Department of Mechanical Engineering, Amirkabir University of Technology, Iran; New Technologies Research Center, Amirkabir University of Technology, Iran; Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group, Department of Engineering Design and Manufacture, University of Malaya, Malaysia.
authors.forename: H
authors.initials: H
authors.lastname: Amini
authors.affiliation: Department of Mechanic Bio System, Eghlid Branch, Islamic Azad University, Eghlid, Iran.
authors.forename: B
authors.initials: B
authors.lastname: Farzaneh
authors.affiliation: Department of Mechanical Engineering, Majlesi Branch, Islamic Azad University, Isfahan, Iran.
authors.forename: F
authors.initials: F
authors.lastname: Azimifar
authors.affiliation: Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group, Department of Engineering Design and Manufacture, University of Malaya, Malaysia.
authors.forename: A A D
authors.initials: AAD
authors.lastname: Sarhan
keywords: Force estimation; Piezoelectric actuators; Teleoperation systems; Time delay