Development of micromanipulator and haptic interface for networked micromanipulation : Internet-based manufacturing systems
Identifieur interne : 001314 ( PascalFrancis/Corpus ); précédent : 001313; suivant : 001315Development of micromanipulator and haptic interface for networked micromanipulation : Internet-based manufacturing systems
Auteurs : Noriaki Ando ; Péter Korondi ; Hideki HashimotoSource :
- IEEE/ASME transactions on mechatronics [ 1083-4435 ] ; 2001.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
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.
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Pour connaître la documentation sur le format Inist Standard.
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Format Inist (serveur)
| NO : | PASCAL 02-0109758 INIST |
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| ET : | Development of micromanipulator and haptic interface for networked micromanipulation : Internet-based manufacturing systems |
| AU : | ANDO (Noriaki); KORONDI (Péter); HASHIMOTO (Hideki) |
| AF : | Institute of Industrial Science, Univ. of Tokyo/Tokyo 153-8505/Japon (1 aut., 3 aut.); Department of Automation, Technical University of Budapest/111 Budapest/Hongrie (2 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | IEEE/ASME transactions on mechatronics; ISSN 1083-4435; Etats-Unis; Da. 2001; Vol. 6; No. 4; Pp. 417-427; Bibl. 18 ref. |
| LA : | Anglais |
| EA : | 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. |
| CC : | 001D02D11; 001D12I |
| FD : | Mécanique précision; Téléopération; Micromanipulation; Internet; Sensibilité tactile; Commande adaptative; Modèle référence; Mécanisme parallèle |
| ED : | Precision engineering; Remote operation; Micromanipulation; Internet; Tactile sensitivity; Adaptive control; Reference model; Parallel mechanism |
| SD : | Mecánica precisión; Teleacción; Micromanipulación; Internet; Sensibilidad tactil; Control adaptativo; Modelo referencia |
| LO : | INIST-26423.354000094710880060 |
| ID : | 02-0109758 |
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Pascal:02-0109758Le document en format XML
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All rights reserved.</s1></fA44><fA45><s0>18 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>02-0109758</s0></fA47><fA60><s1>P</s1></fA60><fA61><s0>A</s0></fA61><fA64 i1="01" i2="1"><s0>IEEE/ASME transactions on mechatronics</s0></fA64><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>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. 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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.</EA><CC>001D02D11; 001D12I</CC><FD>Mécanique précision; Téléopération; Micromanipulation; Internet; Sensibilité tactile; Commande adaptative; Modèle référence; Mécanisme parallèle</FD><ED>Precision engineering; Remote operation; Micromanipulation; Internet; Tactile sensitivity; Adaptive control; Reference model; Parallel mechanism</ED><SD>Mecánica precisión; Teleacción; Micromanipulación; Internet; Sensibilidad tactil; Control adaptativo; Modelo referencia</SD><LO>INIST-26423.354000094710880060</LO><ID>02-0109758</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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