Affiliation:
1. University of Illinois at Chicago
Abstract
Abstract
In this paper we describe a teleoperated microassembly workcell that integrates a VRML-based virtual microworld with visual servoing micromanipulation strategies. Java is used to program the VRML-based supervisory interface and to communicate with the microassembly workcell. This provides platform independence and allows remote teleoperation over the Internet. A key aspect of our approach entails the integration of teleoperation and visual servoing strategies. This allows a supervisor to guide the task remotely, while visual servoing strategies compensate for the imprecisely calibrated microworld. Results are presented that demonstrate system performance when a supervisor manipulates a microobject remotely. Though Internet delays impact the dynamic performance of the system, teleoperated relative parts placements with submicron precision is successfully demonstrated.
Publisher
American Society of Mechanical Engineers
Cited by
4 articles.
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1. Caging for 2D and 3D micromanipulation;Journal of Micro-Nano Mechatronics;2012-11-10
2. Remote Visual Servoing of a Robot Manipulator via Internet2;Journal of Intelligent and Robotic Systems;2007-03-06
3. Development of a virtual and physical work cell to assemble micro-devices;Robotics and Computer-Integrated Manufacturing;2005-08
4. Micro Assembly Technology and System;Smart Devices and Machines for Advanced Manufacturing