Graphical user interface to manipulate objects in the micro world with a high precision robot

Operating a robot in the micro/nano-world presents challenges not found in the macro world. This paper presents a graphical user interface for a robot which manipulates objects in the micro world, developed at the Swiss Federal Institute of Technology Zurich. The robot, which works under a microscope, was designed to perform operations with nanometer resolution. To enable the operator to manipulate objects with the robot, he is provided with a set of visualization and manipulation tools. The visualization tools are: a live microscope video image capable of both mono and stereo viewing modes, and a 3D virtual solid model of the robot with perspective as well as orthogonal views available at the same time. The manipulation tools are: a control panel used to check the status and to operate both the camera and the robot itself and an interface with a 6 degree of freedom spacemouse. This paper describes the robot system, the visualization and manipulation tools, and presents some field test results and conclusions on the implementation of this user interface