Abstract
This paper deals with the problem of finding a compromise between stability and transparency for bilateral haptic control in nanorobotics. While manipulating objects with an AFM, real time visual feedback is not available. Force feedback is used to compensate for this lack of visual information. The structure of the control scheme and the value of the controller gains are critical issues for stability, transparency, and ease of manipulation. Two common control schemes are analyzed for submicron scale interactions. Based on stability and transparency criteria, the influence of each of the controllers’ gains is derived. The applications for which the bilateral couplings are best suited, as well as their intrinsic limitations are discussed. The theoretical analysis is validated with an experiment composed of several phases with high dynamic phenomena.
Similar content being viewed by others
References
Sitti M (2007) Microscale and nanoscale robotics systems [grand challenges of robotics]. IEEE Robot Autom Mag 14(1):53–60
Ferreira A, Mavroidis C (2006) Virtual reality and haptics for nanorobotics. IEEE Robot Autom Mag 13(3):78–92
Hollis R, Salcudean S, Abraham D (1990) Toward a tele-nanorobotic manipulation system with atomic scale force feedback and motion resolution. In: IEEE workshop on micro electro mechanical systems, Napa Valley, 12–14 February 1990, pp 115–119
Goldfarb, M (1998) Dimensional analysis and selective distorsion in scaled bilateral telemanipulation. In: Proceedings of the IEEE international conference on robotics and automation. IEEE, Piscataway, pp 1609–1614
Niemeyer G, Slotine JJ (1991) Stable adaptive teleoperation. IEEE J Oceanic Eng 16(1):152–162
Anderson R, Spong M (1989) Bilateral control of teleoperators with time delay. IEEE Trans Automat Contr 34(5):494–501
Ryu JH, Kim YS, Hannaford B (2004) Sampled- and continuous-time passivity and stability of virtual environment. IEEE Trans Robot Autom 20(4):772–776
Daunay B, Micaelli A, Régnier S (2007) 6 DOF haptic feedback for molecular docking using wave variables. In: Proceedings of the IEEE international conference on robotics and automation. IEEE, Piscataway, pp 840–845
Kim SG, Sitti M (2006) Task-based and stable telenanomanipulation in a nanoscale virtual environment. IEEE Trans Autom Sci Eng 3(3):240–247
Boukhnifer M, Ferreira A (2007) H-infinity loop shaping bilateral controller for a two-fingered tele-micromanipulation system. IEEE Trans Control Syst Technol 15(5):891–905
Boukhnifer M, Ferreira A (2006) Wave-based passive control for transparent micro-teleoperation system. Robot Auton Syst 54(7):601–615
Kaneko K, Tokashiki H, Tanie K, Komoriya K (1997) Impedance shaping based on force feedback bilateral control in macro-micro teleoperation system. In: Proceedings of the IEEE international conference on robotics and automation. IEEE, Piscataway, pp 710–717
Onal CD, Sitti M (2009) A scaled bilateral control system for experimental one-dimensional teleoperated nanomanipulation. Int J Rob Res 28(4):484–497
Venture G, Haliyo DS, Régnier S, Micaelli A (2005) Force-feedback micromanipulation with unconditionally stable coupling. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems. IEEE, Piscataway, pp 1923–1928
Tian X, Liu L, Jiao N, Wang Y, Dong Z, Xi N (2004) 3D nano forces sensing for an AFM based nanomanipulator. In: Proceedings of the IEEE international conference on information acquisition. IEEE, Piscataway, pp 208–212
Xie H, Vitard J, Haliyo DS, Régnier S, Boukallel M (2008) Calibration of lateral force measurements in atomic force microscopy. Rev Sci Instrum 79:033708
Onal CD, Pawashe C, Sitti M (2007) A scaled bilateral control system for experimental 1-D teleoperated nanomanipulation applications. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems. IEEE, Piscataway, pp 483–488
Ammi M, Ferreira A (2007) Robotic assisted micromanipulation system using virtual fixtures and metaphors. In: Proceedings of the IEEE international conference on robotics and automation. IEEE, Piscataway, pp 454–460
Ando N, Ohta M, Hashimoto H (2000) Micro teleoperation with haptic interface. In: 26th annual conference of the IEEE industrial electronics society, vol 1. IEEE, Piscataway, pp 13–18
Goethals P, Gersem GD, Sette M, Reynaerts D, Brussel HV (2007) Accurate haptic teleoperation on soft tissues through slave friction compensation by impedance reflection. In: Proceedings of the second joint EuroHaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems, Tsukuba, 22–24 March 2007
Maugis D (2000) Contact, adhesion and rupture of elastic solids, vol 130, chap 4. Springer, New York pp 203–344
Lawrence D (1993) Stability and transparency in bilateral teleoperation. IEEE Trans Robot Autom Autom 9(5):624–637
Hokayem PF, Spong MW (2006) Bilateral teleoperation: an historical survey. Automatica 42(12):2035–2057
Adams RJ, Hannaford B (1999) Stable haptic interaction with virtual environments. IEEE Trans Robot Autom Autom 15(3):465–474
Hogan N (1989) Controlling impedance at the man/machine interface. In: Proceedings of the IEEE international conference on robotics and automation. IEEE, Piscataway, pp 1626–1631
Llewellyn F (1952) Some fundamental properties of transmission systems. Proc IRE 40(3):271–283
Gil JJ, Avello A, Rubio A, Flórez J (2004) Stability analysis of a 1 DOF haptic interface using the Routh-Hurwitz criterion. IEEE Trans Control Syst Technol 12(4):583–588
Acknowledgements
This work was supported by the French National Agency of Research, through the PACMAN project.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Bolopion, A., Cagneau, B., Haliyo, D.S. et al. Analysis of stability and transparency for nanoscale force feedback in bilateral coupling. J. Micro-Nano Mech. 4, 145–158 (2008). https://doi.org/10.1007/s12213-009-0016-3
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12213-009-0016-3