a passive-based force reflecting algorithm for a piezo-actuated macro-micro telemanipulation system

piezoelectric actuators are widely used in micro manipulation applications. however hysteresis nonlinearity limits accuracy of these actuators. this paper presents a novel approach utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. the prandtl-ishlinskii (pi) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. a passive coordination control which uses the new outputs to state synchronize the master and slave robots in free motion is extended to achieve position coordination in contact tasks. the proposed approach uses force feedback using a passivity of the systems and lyapunov stability methods; the asymptotic stability of force reflecting teleoperation with communication delay and position/force scaling is proven. performance of the proposed controllers is verified through experiments.