Title :
Micromanipulation using a friction force field
Author :
Sin, Jeongsik ; Winther, Tobias ; Stephanou, Harry
Author_Institution :
Center for Autom. Technol., Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
Most common requirements for micromanipulation are high precision, parallel manipulation, cost, etc. In this paper, we examine a manipulation method that may be useful for these requirements. The presented method uses an actively generated friction force field as a driving force of manipulation, and the method can have several actuation modes depending on the sliding condition of the friction force field. Planar dynamics regarding the proposed method were analyzed, and the design of the force field was investigated.
Keywords :
force control; friction; manipulator dynamics; micromanipulators; motion control; actuation modes; driving force; friction force field; micromanipulation; micromanipulators; planar dynamics; sliding condition; Automation; Costs; Force; Friction; Hydraulic actuators; Kinematics; Manipulator dynamics; Robots; Silicon compounds; Wheels;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932539
