Development of micromanipulator and haptic interface for networked micromanipulation

Noriaki Ando, P. Korondi, Hideki Hashimoto

Research output: Contribution to journalArticle

52 Citations (Scopus)

Abstract

In this paper, telemicromanipulation systems with haptic feedback, which are connected through network, are proposed. It is based on scaled bilateral teleoperation systems between different structures. These systems are composed of an original 6 degree of freedom (DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback. A parallel mechanism is adopted as a slave micromanipulator because of its good features of accuracy and stiffness. The system modeling and control of the parallel manipulator system are conducted. Parallel manipulator feasibility as micromanipulator, positioning accuracy and device control characteristics are investigated. The haptic master interface is developed for micromanipulation systems. System modeling and model reference adaptive controller are conducted to compensate friction force, which spoils free motion performance and force response isotropy of the haptic interface. These systems aim to make the micromanipulation more productive constructing a better human interface through the microenvironment force and scale expansion.

Original languageEnglish
Pages (from-to)417-427
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Volume6
Issue number4
DOIs
Publication statusPublished - Dec 2001

Fingerprint

Micromanipulators
Haptic interfaces
Manipulators
Feedback
Remote control
Stiffness
Friction
Controllers

Keywords

  • Haptic interface
  • Micromanipulation
  • Networked teleoperation
  • Parallel mechanism

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Development of micromanipulator and haptic interface for networked micromanipulation. / Ando, Noriaki; Korondi, P.; Hashimoto, Hideki.

In: IEEE/ASME Transactions on Mechatronics, Vol. 6, No. 4, 12.2001, p. 417-427.

Research output: Contribution to journalArticle

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