Micro-teleoperation with parallel manipulator

Author

Ando, Noriaki ; Ohta, Masahito ; Gonda, Kouhei ; Hashimoto, Hideki

Author_Institution

Inst. of Ind. Sci., Tokyo Univ., Japan

Volume

1

fYear

2001

fDate

2001

Firstpage

63

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on

Conference_Location

Como

Print_ISBN

0-7803-6736-7

Type

conf

DOI

10.1109/AIM.2001.936431

Filename

936431