DocumentCode :
504656
Title :
Development of an AFM-based nanomanipulation system and stable haptic interaction using modified energy-bounding algorithm
Author :
Lim, Yo-An ; Lee, Chang-Gyu ; Kim, Jong-Phil ; Ryu, Jeha
Author_Institution :
Dept. of Mechatron., Gwangju Inst. of Sci. & Technol., Gwangju, South Korea
fYear :
2009
fDate :
18-21 Aug. 2009
Firstpage :
3798
Lastpage :
3802
Abstract :
This paper addresses the development of an AFM (Atomic Force Microscope)-based scaled teleoperation system and its preliminary experimental results of bilateral scaled teleoperation using the modified EBA (Energy-Bounding Algorithm). An interface that connects a commercial AFM and a custom-built haptic interface, and a GUI controlling the overall system are developed. For stable scaled teleoperation, the EBA, a passivity-based haptic stability control algorithm, is modified to include the force and position scaling factors, and applied to the scaled teleoperation. Preliminary experiments show that stable haptic interaction on a sample material can be achieved using the developed system and the modified EBA.
Keywords :
atomic force microscopy; force control; graphical user interfaces; haptic interfaces; manipulators; microrobots; nanoelectromechanical devices; position control; telerobotics; AFM-based nanomanipulation system; AFM-based scaled teleoperation system; GUI; atomic force microscope; bilateral scaled teleoperation; haptic interaction; haptic interface; haptic stability control algorithm; modified energy-bounding algorithm; Atomic force microscopy; Control systems; Force control; Graphical user interfaces; Haptic interfaces; Mechatronics; Nanoscale devices; Probes; Stability; Virtual environment; AFM-based scaled teleoperation; energy-bounding algorithm; haptics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
Type :
conf
Filename :
5334331
Link To Document :
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