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Networked telemicromanipulation systems "Haptic Loupe"

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3 Author(s)
Ando, Noriaki ; Nat. Inst. of Adv. Ind. Sci. & Technol., Japan ; Korondi, P. ; Hashimoto, H.

In this paper, "Haptic Loupe" telemicromanipulation systems are proposed. We have developed telemicromanipulation systems that enable human operators to perform micro tasks, such as assembly or manufacturing without stress . These systems are based on a scaled bilateral teleoperation system between different structures. The systems are composed of an original six-degrees-of-freedom (6-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 haptic master interface is developed for micromanipulation systems. Haptic device system modeling and a model reference adaptive controller are implemented to compensate for friction forces, which spoil the free motion performance and force response isotropy of the system. Total system performance as a telemicromanipulator system is evaluated by performing some primitive manipulation tasks in a teleoperation experiment. Experimental results are presented and discussed.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:51 ,  Issue: 6 )