Title :
A task-oriented teleoperation system for assembly in the microworld
Author :
Codourey, Alain ; Rodriguez, Miguel ; Pappas, Ion
Author_Institution :
Inst. of Robotics, Eidgenossische Tech. Hochschule, Zurich, Switzerland
Abstract :
Operating a robot in the micro/nano-world presents challenges not found in the macro-world. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. To allow a good manipulability, we propose a mixed teleoperation system which is composed of both direct and task-oriented teleoperation modes. The operator is provided with a set of visualization and manipulation tools on a workstation. This paper presents the micro-robot system, discusses some important issues in micro-teleoperation and finally presents some micro-manipulation tasks performed with the system
Keywords :
industrial manipulators; manipulators; microassembling; nanotechnology; position measurement; stereo image processing; telerobotics; user interfaces; assembly; manipulability; manipulation tools; micro-manipulation tasks; microworld; nano-world; task-oriented teleoperation system; visualization tools; Assembly systems; Cameras; Feedback; Orbital robotics; Robot vision systems; Robotic assembly; Transmission electron microscopy; User interfaces; Visualization; Workstations;
Conference_Titel :
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4160-0
DOI :
10.1109/ICAR.1997.620188
