DocumentCode
3224101
Title
Micromanipulation using a friction force field
Author
Sin, Jeongsik ; Winther, Tobias ; Stephanou, Harry
Author_Institution
Center for Autom. Technol., Rensselaer Polytech. Inst., Troy, NY, USA
Volume
1
fYear
2001
fDate
2001
Firstpage
115
Abstract
Most common requirements for micromanipulation are high precision, parallel manipulation, cost, etc. In this paper, we examine a manipulation method that may be useful for these requirements. The presented method uses an actively generated friction force field as a driving force of manipulation, and the method can have several actuation modes depending on the sliding condition of the friction force field. Planar dynamics regarding the proposed method were analyzed, and the design of the force field was investigated.
Keywords
force control; friction; manipulator dynamics; micromanipulators; motion control; actuation modes; driving force; friction force field; micromanipulation; micromanipulators; planar dynamics; sliding condition; Automation; Costs; Force; Friction; Hydraulic actuators; Kinematics; Manipulator dynamics; Robots; Silicon compounds; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932539
Filename
932539
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