A Haptic Tele-operated System for Microassembly
作者： P. Estevez , S. Khan , P. Lambert , M. Porta , I. Polat
DOI: 10.1007/978-3-642-11598-1_2
关键词: Haptic technology 、 Benchmark (computing) 、 Parallel manipulator 、 Teleoperation 、 Simulation 、 Engineering 、 Transmission (telecommunications) 、 Control engineering 、 Orientation (computer vision) 、 Operator (computer programming) 、 Robot end effector
摘要: A tele-haptic system for microassembly applications is currently being developed at the Delft University of Technology, with goal achieving superior performance by providing enhanced feedback to human operator. Assembly a micro-harmonic drive used as benchmark fully evaluate proposed investigating control strategies and individual subsystems: master device, microgrippers slave system. The device will be comprised parallel robot built-in gripper. end effector are focused on efficient effective force interactions microenvironment operator, in addition detecting position orientation object grasped. Novel also investigated allow transmission high frequency transients carrying information from hard contact between microgripper part assembled.
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