Calibration and basic motion of a micro hand module

Author

Arai, T. ; Larsonneur, R. ; Jaya, Y.M.

Author_Institution

Robotics Dept., Tsukuba Labs., Ibaraki, Japan

fYear

1993

fDate

15-19 Nov 1993

Firstpage

1660

Abstract

A dexterous micro-manipulation system is developed for application in assembling micro-machine, manipulating cells, and micro-surgery. We have proposed a concept of a two finger micro-hand, and designed and built a hand module based on parallel mechanisms. The module has 6 degrees of freedom with piezoelectric devices as actuators. A calibration method based on least square error is proposed for 3-DOF translational motion in task coordinates fixed under a microscope. Coordinated motion is generated by both programming control and joystick teleoperation control

Keywords

calibration; electric actuators; manipulators; micromechanical devices; piezoelectric actuators; position control; programmed control; telecontrol; 3-DOF translational motion; coordinated motion; dexterous micromanipulation system; joystick teleoperation control; least square error; microhand module; parallel mechanisms; piezoelectric actuators; programming control; task coordinates; two finger microhand; Assembly systems; Calibration; Fingers; Laboratories; Mechanical engineering; Motion control; Prototypes; Robot kinematics; Robotic assembly; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-0891-3

Type

conf

DOI

10.1109/IECON.1993.339323

Filename

339323