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.
Svetan Ratchev. 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS), Feb 2010, Chamonix, France. Springer, IFIP Advances in Information and Communication Technology, AICT-315, pp.13-20, 2010, Precision Assembly Technologies and Systems. 〈10.1007/978-3-642-11598-1_2〉
https://hal.inria.fr/hal-01055677
Contributeur : Hal Ifip
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Soumis le : mercredi 13 août 2014 - 12:01:56
Dernière modification le : samedi 18 novembre 2017 - 18:16:02
Document(s) archivé(s) le : jeudi 27 novembre 2014 - 00:21:48
P. Estevez, S. Khan, P. Lambert, M. Porta, I. Polat, et al.. A Haptic Tele-operated System for
Microassembly. Svetan Ratchev. 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS), Feb 2010, Chamonix, France. Springer, IFIP Advances in Information and Communication Technology, AICT-315, pp.13-20, 2010, Precision Assembly Technologies and Systems. 〈10.1007/978-3-642-11598-1_2〉. 〈hal-01055677〉
