This paper presents the analytical and experimental results on a new haptic telemanipulation environment for microrobot control. The proposed environment is comprised of a 5DOF force feedback mechanism, acting as the master, and a 2DOF microrobot, acting as the slave. The fact that the slave microrobot is driven by two centripetal force vibration micromotors makes the presented telemanipulation environment exceptional and challenging. The unique characteristics and challenges that arise during the haptic micromanipulation of the specific device are described and analyzed. The developed solutions are presented and discussed. Several experiments show that, regardless of the disparity between the master and slave, the proposed environment facilitates functional and simple microrobot control during micromanipulation operations.
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e-mail: kostaswl@central.ntua.gr
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December 2008
Research Papers
Analysis and Experiments of a Haptic Telemanipulation Environment for a Microrobot Driven by Centripetal Forces
Kostas Vlachos,
Kostas Vlachos
Department of Mechanical Engineering,
e-mail: kostaswl@central.ntua.gr
National Technical University of Athens
, Heroon Polytechniou 9, 15780 Athens, Greece
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Evangelos Papadopoulos
Evangelos Papadopoulos
Department of Mechanical Engineering,
e-mail: egpapado@central.ntua.gr
National Technical University of Athens
, Heroon Polytechniou 9, 15780 Athens, Greece
Search for other works by this author on:
Kostas Vlachos
Department of Mechanical Engineering,
National Technical University of Athens
, Heroon Polytechniou 9, 15780 Athens, Greecee-mail: kostaswl@central.ntua.gr
Evangelos Papadopoulos
Department of Mechanical Engineering,
National Technical University of Athens
, Heroon Polytechniou 9, 15780 Athens, Greecee-mail: egpapado@central.ntua.gr
J. Comput. Inf. Sci. Eng. Dec 2008, 8(4): 041007 (9 pages)
Published Online: November 7, 2008
Article history
Received:
September 30, 2007
Revised:
June 30, 2008
Published:
November 7, 2008
Citation
Vlachos, K., and Papadopoulos, E. (November 7, 2008). "Analysis and Experiments of a Haptic Telemanipulation Environment for a Microrobot Driven by Centripetal Forces." ASME. J. Comput. Inf. Sci. Eng. December 2008; 8(4): 041007. https://doi.org/10.1115/1.2988385
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