Title :
A micro operation hand and its application to microdrawing
Author :
Nakamura, Tatsuya ; Kogure, Yoshiyuki ; Shimamura, Koichiro
Author_Institution :
Dept. of Precision Eng., Tokyo Metropolitan Univ., Japan
Abstract :
Force control is required in dexterous micro operation of small mechanical parts and biological objects. Our research aims at the development of micro operation hands. For this purpose a finger subsystem with a lever mechanism and magnetic actuators were developed and applied to contact motion task. In this paper, characteristics of the mechanism and actuators are analyzed. A motion control system which compensates for disturbances is designed and applied to drawing tasks of micro figures
Keywords :
dexterous manipulators; electromagnetic actuators; force control; manipulator dynamics; micromanipulators; motion control; observers; contact motion; disturbance observer; force control; lever mechanism; magnetic actuators; micro operation hands; microdrawing; motion control; Actuators; Coils; Fingers; Force control; Force sensors; Magnetic analysis; Motion control; Permanent magnets; Production; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844745
