Teleoperated micromanipulation within a VRML environment using Java

A teleoperated microassembly workcell that integrates a VRML-based virtual microworld with visual servoing micromanipulation strategies for assembly of hybrid MEMS prototypes is described. Java is used to program the VRML-based supervisory interface and to communicate with the microassembly workcell. This provides platform independence and allows remote teleoperation of the microassembly workcell over the Internet. A key aspect of our approach entails the integration of teleoperation and visual servoing strategies. This allows a supervisor to guide the task remotely, while visual servoing strategies compensate for the imprecisely calibrated microworld. Results are presented that demonstrate system performance when a supervisor manipulates a microobject remotely. Though Internet delays impact the dynamic performance of the system, teleoperated relative parts placements with submicron precision is successfully demonstrated.