Title :
Micro-teleoperation with parallel manipulator
Author :
Ando, Noriaki ; Ohta, Masahito ; Gonda, Kouhei ; Hashimoto, Hideki
Author_Institution :
Inst. of Ind. Sci., Tokyo Univ., Japan
Abstract :
This paper describes the haptic interface based micromanipulation systems developed for microrobot fabrication, micro-process handling and micro-component inspection. It is based on scaled bilateral teleoperation system between different structures. These systems are composed of an original 6-DOF parallel link manipulator to carry out micromanipulation and a haptic interface with force feedback. These systems aim to make the micromanipulation more productive in constructing a better human interface through the micro environment force and scale expansion. In this paper, a new micromanipulation system is proposed and evaluated. Experiments were conducted to evaluate the precision and manipulability of the systems
Keywords :
force feedback; haptic interfaces; manipulator kinematics; micromanipulators; model reference adaptive control systems; telerobotics; force feedback; haptic interface; kinematics; micromanipulators; model reference adaptive control; networked robotics; parallel manipulator; teleoperation; user interface; Collaborative work; Force feedback; Haptic interfaces; Humans; Manipulators; Micromanipulators; Parallel robots; Performance analysis; Performance evaluation; Service robots;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936431
