MODELING OF MICROMANIPULATION ROBOT IN VIRTUAL ENVIRONMENT  

作　　者：F.S.Tan L.N.Sun W.B.Rong J.Zhu Robotic Research Institute,Harbin Institute of Technology,Harbin 150001,China 

出　　处：《Acta Metallurgica Sinica(English Letters)》2004年第2期194-198,共5页金属学报（英文版）

基　　金：supported by the National High Technology Research and Development Program of China (No.2002AA40445O);also supported by the National Defense Basic Scientific Research Foundation of China

摘　　要：Micromanipulation has been recognized to be very difficult due to the inefficiency oftraditional micromanipulation methods. The paper present a general framework formicromanipulation robot based on virtual reality technology. The significance of in-troducing virtual reality into micromanipulation is analyzed, and the current researchin this field is reviewed. Based on this, we propose a micromanipulation system thatintegrates virtual environment with vision feedback and force feedback. The systemrealizes vision close-loop control and force close-loop control to enhance the perfor-mance of micromanipulation device. A graphics modelling method is proposed for amicroassembly task. Hardware and software implementation is described and discus-sion about the research is presented.Micromanipulation has been recognized to be very difficult due to the inefficiency oftraditional micromanipulation methods. The paper present a general framework formicromanipulation robot based on virtual reality technology. The significance of in-troducing virtual reality into micromanipulation is analyzed, and the current researchin this field is reviewed. Based on this, we propose a micromanipulation system thatintegrates virtual environment with vision feedback and force feedback. The systemrealizes vision close-loop control and force close-loop control to enhance the perfor-mance of micromanipulation device. A graphics modelling method is proposed for amicroassembly task. Hardware and software implementation is described and discus-sion about the research is presented.

关 键 词：micromaniqulation virtual reality vision feedback force feedback MICROASSEMBLY 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]