Sensor-less force-reflecting macro–micro telemanipulation systems by piezoelectric actuators

• Main Authors: Amini, H., Farzaneh, B., Azimifar, F., Sarhan, A.A.D.
• Format: Article
• Published: Elsevier 2016
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.um.edu.my/18279/; https://doi.org/10.1016/j.isatra.2016.05.006

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 cont...