Development of a single-master multi-slave tele-micromanipulation system
Authors: Hwang, Gilgueng1; Szemes, Peter Tamas2; Ando, Noriaki3; Hashimoto, Hideki1
Source: Advanced Robotics, Volume 21, Numbers 3-4, 2007 , pp. 329-349(21)
Publisher: VSP, an imprint of Brill
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Abstract:
This paper proposes the development of a human-robot cooperative tele-micromanipulation system through a network. We have developed a novel single-master (PHANToM haptic device) multi-slave (6-d.o.f. parallel manipulator) scaled tele-micromanipulation system which enables human operators to perform meso or small-size object manipulation such as assembly or manufacturing with sufficient telepresence. It is expected to improve the human's operability and the overall dexterity of conventional tele-micromanipulation systems. To overcome the problems of the multiple parallel mechanism manipulator, virtual kinematic mapping is considered, based on the manipulability analysis of the workspace. The pick-and-place experiment results prove the validity of the developed single-master multi-slave system.Keywords: TELE-MICROMANIPULATION; PARALLEL MECHANISM; INTERNAL FORCE DECOMPOSITION; VIRTUAL MAPPING; SMMS
Document Type: Research article
DOI: 10.1163/156855307780132054
Affiliations: 1: Institute of Industrial Science, University of Tokyo, Komaba 4-6-1, Meguro-ku, Tokyo 153-8505, Japan 2: Budapest University of Technology and Economics, 5F, V2 bdg, Györgytér 3, Goldmann, Budapest, Hungary 3: National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki 305-8568, Japan
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