Paper Info
Title
Force control system for autonomous micro-manipulation
Abstract
A dexterous micro-manipulation system was developed for applications such as assembling micro-machines, manipulating cells, and micro-surgery. We proposed a concept of a two-fingered micro-hand, and designed and built a prototype. We succeeded in performing basic micro-manipulations, including the grasp, release, and rotation of a microscopic object. The micro-hand is controlled by a position controller only. The accuracy of the micro-manipulation depends on the skill of the operator. For automatic manipulation, it is necessary to measure the micro-forces between the finger and the object. A micro force sensor has developed for the force control in micro-manipulation. In this paper, we describe the micro force sensor and perform an automatic micro-manipulation and force control with the sensor. The basic experiment performed shows excellent micro-capability.
Year
DOI
Venue
2001
10.1109/ROBOT.2001.932617
ICRA
Keywords
Field
DocType
microsensors,dexterous manipulators,microsensor,micromanipulators,force control,automatic manipulation,micromanipulator,dexterous micro-manipulation system,force sensor,position control,microscopic object grasping,microscopy,master slave,mechanical engineering,automatic control
Force sensor,Control theory,GRASP,Control theory,Control engineering,Operator (computer programming),Engineering,Control system
Conference
Volume
Issue
ISSN
1
3
1050-4729
ISBN
Citations 
PageRank 
0-7803-6576-3
11
2.12
References 
Authors
4
8
Name
Order
Citations
PageRank
Tamio Tanikawa116141.99
masashi kawai2112.12
Noriho Koyachi345049.92
Tatsuo Arai4728177.57
takayuki ide5112.12
shinji kaneko6112.12
ryo ohta7112.12
takeshi hirose8112.12