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Teleoperated micromanipulation within a VRML environment using Java

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3 Author(s)
Alex, J. ; Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA ; Vikramaditya, B. ; Nelson, B.J.

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

Published in:

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

13-17 Oct 1998