Multi Material Micro Manufacture Network of Excellence - Manipulation / handling

Telemanipulation Control of Mechatronic Handling Devices for Micro/Nano Operations

Mon, 12 Nov 2007 16:23:32 +0000

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.

Thu, 01 Jan 1970 00:00:00 +0000

n/a

Bayerisches Laserzentrum

Wed, 18 May 2005 09:08:57 +0000

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Various laser systems for ablation, soldering, welding, marking, adjustment, sintering, stereolithography, LOM.

RAS contact:
Stephan Roth

KU Leuven

Tue, 12 Apr 2005 12:40:08 +0000

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K.U.Leuven is one of the three divisions of the department of Mechanical Engineering. PMA is active in the following areas: manufacturing processes, machine and instrument design, structural dynamics, acoustics, CAD/CAM/CIM, robotics, assembly automation, mechatronics, micro- and precision engineering, and metrology. The PMA division work includes original fundamental work as well as successful industry-oriented projects carried out in collaboration with small, medium and large companies and with international organisations like the European Space Agency. An important role of the research activities of the PMA division is based on international collaboration as shown by the participation of the division in more than 40 EC funded projects. The PMA division has also been nominated as Centre of Excellence by the Belgian Government.

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dominiek reynaerts

TNO Science and Industry

Thu, 31 Mar 2005 14:13:55 +0000

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TNO Industrial Technology increases the competitive strength of companies by providing them support in the development of products, materials and production processes. In order to solve our customers' problems and help them fulfil their ambitions, we combine our competences with the customers' own expertise and, if necessary, we involve other TNO institutes and third parties.

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Pieter Bolt