A task-oriented teleoperation system for assembly in the microworld

Author

Codourey, Alain ; Rodriguez, Miguel ; Pappas, Ion

Author_Institution

Inst. of Robotics, Eidgenossische Tech. Hochschule, Zurich, Switzerland

fYear

1997

fDate

7-9 Jul 1997

Firstpage

235

Lastpage

240

Abstract

Operating a robot in the micro/nano-world presents challenges not found in the macro-world. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. To allow a good manipulability, we propose a mixed teleoperation system which is composed of both direct and task-oriented teleoperation modes. The operator is provided with a set of visualization and manipulation tools on a workstation. This paper presents the micro-robot system, discusses some important issues in micro-teleoperation and finally presents some micro-manipulation tasks performed with the system

Keywords

industrial manipulators; manipulators; microassembling; nanotechnology; position measurement; stereo image processing; telerobotics; user interfaces; assembly; manipulability; manipulation tools; micro-manipulation tasks; microworld; nano-world; task-oriented teleoperation system; visualization tools; Assembly systems; Cameras; Feedback; Orbital robotics; Robot vision systems; Robotic assembly; Transmission electron microscopy; User interfaces; Visualization; Workstations;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620188

Filename

620188