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

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2 Author(s)
Rodriguez, M. ; Inst. of Robotics, Swiss Federal Inst. of Technol., Zurich, Switzerland ; Codourey, A.

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

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997