DocumentCode :
2544238
Title :
Toward intuitive teleoperation of micro/nano-manipulators with piezoelectric stick-slip actuators
Author :
Nambi, Manikantan ; Damani, Aayush ; Abbott, Jake J.
Author_Institution :
Dept. of Mech. Eng., Univ. of Utah, Salt Lake City, UT, USA
fYear :
2011
fDate :
25-30 Sept. 2011
Firstpage :
445
Lastpage :
450
Abstract :
Commercial micro/nano-manipulators, which utilize piezoelectric stick-slip actuators to achieve high precision over a large workspace, are currently controlled by a human operator at the joint level, leading to unintuitive and time-consuming teleoperation. Prior work has considered the use of computer-vision-feedback to close a control loop for improved performance, but computer-vision-feedback is not a viable option for many end users. In this paper, we discuss how open-loop models of the micro/nano-manipulator can be used to achieve desired end-effector movements, and we explain the process of obtaining open-loop models. We propose a rate-control teleoperation method that utilizes the obtained model, and we experimentally quantify the effectiveness of the method using a common commercial manipulator (the Kleindiek MM3A).
Keywords :
end effectors; micromanipulators; open loop systems; piezoelectric actuators; stick-slip; telerobotics; Kleindiek MM3A; commercial manipulator; end-effector movement; human operator; micromanipulator; nanomanipulator; open-loop model; piezoelectric stick-slip actuator; rate-control teleoperation; Actuators; Erbium; Humans; Jacobian matrices; Joints; Machine vision; Manipulators;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
ISSN :
2153-0858
Print_ISBN :
978-1-61284-454-1
Type :
conf
DOI :
10.1109/IROS.2011.6094608
Filename :
6094608
Link To Document :
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