Force feedback pushing scheme for micromanipulation applications

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Khan, Shahzad and Şabanoviç, Asif (2009) Force feedback pushing scheme for micromanipulation applications. (Accepted/In Press)

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Pushing micro-objects using point contact provides more flexibility and less complexity compared to pick and place operation. Due to the fact that in micro-world surface forces are much more dominant than inertial forces and these forces are distributed unevenly, pushing through the center of mass of the micro-object may not yield a pure translational motion. In order to translate a micro-object, the line of pushing should pass through the center of friction. In this paper, a semi-autonomous scheme based on hybrid vision/force feedback procedure is proposed to push micro-objects with human assistance using a custom built tele-micromanipulation setup to achieve translational motion. In the semi-autonomous pushing process, velocity controlled pushing with force feedback is realized along x-axis by the human operator while y-axis orientation is undertaken automatically using visual feedback. This way the desired line of pushing for the micro-object is controlled to pass through the varying center of friction. Experimental results are shown to prove nano-Newton range force sensing, scaled bilateral teleoperation with force feedback and snapshot of pushing operation.

Item Type:Article
Subjects:T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
ID Code:12569
Deposited By:Asif Şabanoviç
Deposited On:09 Nov 2009 12:56
Last Modified:23 Jul 2019 15:18

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