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Design and Experimental Validation of a Hybrid Micro Tele-Manipulation System

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Artificial Intelligence: Methods and Applications (SETN 2014)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8445))

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Abstract

This paper presents analytical and experimental results on a new hybrid tele-manipulation environment for micro-robot control under non-holonomic constraints. This environment is comprised of a haptic tele-manipulation subsystem (macro-scale motion), and a visual servoing subsystem, (micro-scale motion) under the microscope. The first subsystem includes a 5-dof (degrees of freedom) force feedback mechanism, acting as the master, and a 2-dof micro-robot, acting as the slave. In the second subsystem, a motion controller based on visual feedback drives the micro-robot. The fact that the slave micro-robot is driven by two centrifugal force vibration micro-motors makes the presented tele-manipulation environment exceptional and challenging. The unique characteristics and challenges that arise during the micromanipulation of the specific device are described and analyzed. The developed solutions are presented and discussed. Experiments show that, regardless of the disparity between master and slave, the proposed environment facilitates functional and simple micro-robot control during micromanipulation operations.

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Authors and Affiliations

  1. Department of Mechanical Engineering, National Technical University of Athens, Heroon Polytechniou 9, 15780, Athens, Greece

    Kostas Vlachos & Evangelos Papadopoulos

Authors
  1. Kostas Vlachos
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  2. Evangelos Papadopoulos
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Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Ioannina, GR 45110, Ioannina, Greece

    Aristidis Likas

  2. Department of Computer Science, University of Ioannina, P.O. Box 1186, 45110, Ioannina, Greece

    Konstantinos Blekas

  3. Hellenic Open University, GR 26335, Peribola, Patras, Greece

    Dimitris Kalles

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Vlachos, K., Papadopoulos, E. (2014). Design and Experimental Validation of a Hybrid Micro Tele-Manipulation System. In: Likas, A., Blekas, K., Kalles, D. (eds) Artificial Intelligence: Methods and Applications. SETN 2014. Lecture Notes in Computer Science(), vol 8445. Springer, Cham. https://doi.org/10.1007/978-3-319-07064-3_14

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  • DOI: https://doi.org/10.1007/978-3-319-07064-3_14

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-07063-6

  • Online ISBN: 978-3-319-07064-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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