Original scientific paper

Task Based Bilateral Control for Microsystems Application

Meltem Elitas ; Mechatronics Program, Faculty of Engineering and Natural Science, Sabanci University, Tuzla Orhanli, 34956 Istanbul, Turkey
Shahzad Khan ; PME Department, 3mE, Delft University of Technology, Mekelweg 2, 2628CD Delft, The Netherlands
Ahmet Ozcan Nergiz ; Mechatronics Program, Faculty of Engineering and Natural Science, Sabanci University, Tuzla Orhanli, 34956 Istanbul, Turkey
Asif Sabanovic orcid.org/0000-0002-2783-9354 ; Mechatronics Program, Faculty of Engineering and Natural Science, Sabanci University, Tuzla Orhanli, 34956 Istanbul, Turkey

Abstract

Design of a motion control system, convenient for a wide range of applications in industry, space, biology, medicine, particularly including more than one physics environment is very important. Well known control architectures like trajectory tracking, compliance control, interaction force control are scientific milestones which has common control task: to maintain d esired system configuration. In this concept, motion control system can be an unconstrained motion-performed interaction with neither environment nor any other system, or constrained motion-system in contact with environment and/or other systems. This paper provides the function based design approach to formulate control of constrained system particularly bilateral systems in micromanipulation applications. The control objective a imed to maintain desired functional relations between human and environment defining convenient tasks and their proper relations on master and slave motion systems. Preliminary results concerning position tracking, force control and transparency between master and slave systems are clearly demonstrated.

Keywords

Bilateral control; Motion control; Micromanipulation; Teleoperation

Hrčak ID:

71295

URI

https://hrcak.srce.hr/71295

Publication date:

22.7.2011.

Article data in other languages: croatian

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