How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

Abstract

Purpose The purpose of this paper is to present state-of-the-art approaches for precise operation of a robotic manipulator on a macro- to micro/nanoscale. Design/methodology/approach This paper first briefly discussed fundamental issues associated with precise operation of a robotic manipulator on a macro- to micro/nanoscale. Second, this paper described and compared the characteristics of basic components (i.e. mechanical parts, actuators, sensors and control algorithm) of the robotic manipulator. Specifically, commonly used mechanisms of the manipulator were classified and analyzed. In addition, intuitive meaning and applications of its actuator explained and compared in details. Moreover, related research studies on general control algorithm and visual control that are used in a robotic manipulator to achieve precise operation have also been discussed. Findings Remarkable achievements in dexterous mechanical design, excellent actuators, accurate perception, optimized control algorithms, etc., have been made in precise operations of a robotic manipulator. Precise operation is critical for dealing with objects which need to be manufactured, modified and assembled. The operational accuracy is directly affected by the performance of mechanical design, actuators, sensors and control algorithms. Therefore, this paper provides a categorization showing the fundamental concepts and applications of these characteristics. Originality/value This paper presents a categorization of the mechanical design, actuators, sensors and control algorithms of robotic manipulators in the macro- to micro/nanofield for precise operation.