Design framework of a teleoperating system for a magnetically levitated robot with force feedback

Naoaki Tsuda; Norihiko Kato; Yoshihiko Nomura; Hirokazu Matsui

doi:10.1117/12.454742

5 February 2002 Design framework of a teleoperating system for a magnetically levitated robot with force feedback

Naoaki Tsuda, Norihiko Kato, Yoshihiko Nomura, Hirokazu Matsui

Proceedings Volume 4570, Telemanipulator and Telepresence Technologies VIII; (2002) https://doi.org/10.1117/12.454742
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

Precise works and manipulating micro objects are tough jobs for operators both mentally and physically. To execute these jobs smoothly without feeling wrongness, use of master-slave system is preferable because position and force are able to be scaled up and down as well under the system. In this study we develop a master-slave system where the size of a slave robot is very small and the slave robot is levitated by magnetic forces. In distinction from ordinary master- slave systems, the levitated robot does not get any other contact forces from outside. Thus we introduce a method using an impedance model for constructing the master-slave system. We confirmed the effectiveness of the positioning control algorithm through experiments.

Citation Download Citation

Naoaki Tsuda, Norihiko Kato, Yoshihiko Nomura, and Hirokazu Matsui "Design framework of a teleoperating system for a magnetically levitated robot with force feedback", Proc. SPIE 4570, Telemanipulator and Telepresence Technologies VIII, (5 February 2002); https://doi.org/10.1117/12.454742

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