Name
Abstract | ||
|---|---|---|
This paper presents a remote handling force feedback coupling for micromanipulation systems. In the literature, the most generally used coupling mode is 'force position'. This kind of control scheme is not portable and instability is an often occurring problem. The coupling scheme proposed in this paper is based on the passivity considerations on the teleoperated systems. It is independent of the used haptic interface and the manipulator and unconditionally stable regarding scaling ratios. It is experimented using the LRP's (Laboratoire de Robotique de Paris) micromanipulator, which is based on AFM architecture and uses the adhesion forces for pickup and release tasks. A comparison between the force position coupling and proposed coupling is presented. Experimental results show the good performances in terms of stability. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/IROS.2005.1545076 | Intelligent Robots and Systems, 2005. |
Keywords | Field | DocType |
force feedback,micromanipulators,position control,stability,telerobotics,AFM architecture,adhesion force,force feedback,force position coupling,force-feedback micromanipulation,haptic interface,manipulator,passive control,stable coupling,teleoperated system,Micromanipulation,force-feedback teleoperation,passive control | Passivity,Teleoperation,Coupling,Computer science,Control theory,Instability,Control engineering,Pickup,Micromanipulator,Telerobotics,Haptic technology | Conference |
ISBN | Citations | PageRank |
0-7803-8912-3 | 2 | 0.42 |
References | Authors | |
5 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gentiane Venture | 1 | 209 | 38.49 |
| D. Sinan Haliyo | 2 | 3 | 0.83 |
| Regnier, S. | 3 | 156 | 25.28 |
| Alain Micaelli | 4 | 98 | 14.12 |