Manipulation / handling

K. Kostadinov(a), R. Kasper(b), T. Tiankov(a), M. Al-Wahab(b), D. Gotseva(a)(c)
a: Institute of Mechanics, Bulgarian Academy of Sciences, Acad. G. Bonchev St. Bl. 4, 1113 Sofia, Bulgaria
b: Otto von Guericke University – Institute of Mobile Systems, Universitaetsplatz 2, 39106 Magdeburg, Germany
c: Technical University, Faculty of Computer Systems and Control, 8, Kliment Ohridski St., 1000 Sofia, Bulgaria

Abstract

The telemanipulation control approach is very wide used in the domain of micro/nano manipulation where it is necessary to realize complex handling tasks in very small spaces unnatural for humans. Visual, tactile, position or force feedbacks are used assisting the operator to see, sense and control the manipulation process. Without any of these feedbacks it is very difficult to work into the unknown micro/nano world. It is possible to create virtual working environment using the impedance parameters spring, damping and inertia to percept the human about its dynamics. For the improvement of the operator skills for handling the micro/nano operations an impedance scaling approach is used here. In this paper the development of a telemanipulation approach for mechatronic handling devices for micro/nano operations with three degrees of freedom (DoF) is presented. A virtual environment is created and it is sensed to the operator using spring and damping virtual force effects. The effectiveness of the teleoperation control was investigated experimentally upon the 3 degree of freedom robot for scanning operation and mechatronic handling device for biological investigations using inverted microscope and digital cameras Hitachi F110 and ISG-LW-5-C-1394.