AFM-based nano-telemanipulation for indenting on a human chromosome using sliding mode impedance-based controller for the slave

In this article, the goal is to design an Atomic Force Microscopy (AFM) based nano-telemanipulation system for indenting on a human chromosome. The existence of unmodeled/uncertain parameters in robot dynamics weakens the stability robustness and performance of the system, therefore by designing an impedance-based sliding mode controller on the slave side, the master-slave position coordination despite the presence of uncertainties is made possible and with the design of an impedance controller on the master side, the reflection of environment force on the operator is accomplished. The stability of the system is analyzed by deriving the teleoperator hybrid matrix. The simulations carried out in the Matlab/Simulink environment confirm that the desired objectives are fulfilled.