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A Haptic Tele-operated System for Microassembly

Conference paper
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 315)

Abstract

A tele-haptic system for microassembly applications is currently being developed at the Delft University of Technology, with the goal of achieving superior performance by providing enhanced feedback to the human operator. Assembly of a micro-harmonic drive is used as a benchmark to fully evaluate the proposed tele-haptic system by investigating the control strategies and the individual subsystems: master device, microgrippers and slave system. The master device will be comprised of a parallel robot with a built-in gripper. The slave system and end effector are focused on providing efficient and effective force feedback of the interactions on the microenvironment to the human operator, in addition to detecting position and orientation of the object being grasped. Novel control strategies are also investigated to allow the transmission of high frequency transients to the operator, carrying information from hard contact interactions between the microgripper and the part to be assembled.

Keywords

Microassembly Haptics Teleoperation Force Feedback Parallel Robot Event Based Haptics Discretization 

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Copyright information

© IFIP International Federation for Information Processing 2010

Authors and Affiliations

  1. 1.Precision and Microsystems EngineeringTU DelftThe Netherlands
  2. 2.Delft Center for Systems and ControlTU DelftDelftThe Netherlands

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