AFM Based Nano Telemanipulation for Indenting on the Human Chromosomes Using the Sliding Mode Impedance Controller

In this article, the goal is to design an Atomic Force Microscopy (AFM) based nano telemanipulation system for indenting on the human chromosomes. The existence of un-modeled parameters in robot dynamics weakens the stability and performance of the system, therefore, by designing a sliding mode impedance controller on the slave side, the scaled down master position tracking, despite the presence of uncertainties is made possible, and with the design of an impedance controller on the master side, the scaled up reflected force of slave on operator is accomplished. The stability and transparency of the system are analyzed by extracting the teleoperation hybrid matrix. Specifically guaranteeing stability on the premise that some parts of the system are energy-producing is the main concern and treated by designing a suitable virtual coupling and haptic interface controller and by replacing the slave-side of the system with an appropriately trained neural network. Simulations performed in Matlab/Simulink verify the outcome of the paper.