DocumentCode
2031409
Title
A micro operation hand and its application to microdrawing
Author
Nakamura, Tatsuya ; Kogure, Yoshiyuki ; Shimamura, Koichiro
Author_Institution
Dept. of Precision Eng., Tokyo Metropolitan Univ., Japan
Volume
2
fYear
2000
fDate
2000
Firstpage
1095
Abstract
Force control is required in dexterous micro operation of small mechanical parts and biological objects. Our research aims at the development of micro operation hands. For this purpose a finger subsystem with a lever mechanism and magnetic actuators were developed and applied to contact motion task. In this paper, characteristics of the mechanism and actuators are analyzed. A motion control system which compensates for disturbances is designed and applied to drawing tasks of micro figures
Keywords
dexterous manipulators; electromagnetic actuators; force control; manipulator dynamics; micromanipulators; motion control; observers; contact motion; disturbance observer; force control; lever mechanism; magnetic actuators; micro operation hands; microdrawing; motion control; Actuators; Coils; Fingers; Force control; Force sensors; Magnetic analysis; Motion control; Permanent magnets; Production; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844745
Filename
844745
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