Consideration of Micro-Macro 4-channel Bilateral Control Scheme Using Piezoelectric Actuator

In micro-manipulations such as cell manipulation, if the operator can feel the tactile sensation of the object, those operations are expected to be more efficient. Scale bilateral control, in which micro-manipulation is performed remotely and position and force information is transmitted bidirectionally between the two systems, could be one of the solutions for tactile transmission. In this control, the use of a linear motor as a human-operating system and a stacked piezoelectric actuator as a micro-manipulating system has been proposed. In this context, a linear motor is an inertial system, and a piezoelectric actuator is a stiff system. However, the control scheme and theory of bilateral control have been established only for inertial systems. In previous studies, piezoelectric actuators were modeled as inertial systems, and the construction of bilateral control systems according to the scheme of inertial systems was attempted. This paper attempts to construct bilateral control by modeling piezoelectric actuators as a second-order linear system close to the actuator's physical properties. Experiments revealed that the proposed bilateral control scheme performs well as the conventional scheme. This study contributes to constructing bilateral control between two systems with different structures.