Telemanipulation control of mechatronic handling devices for micro/nano operations

摘要

The telemanipulation control approach is widely used in micro/nano manipulation where complex handling tasks are to be completed in very small spaces unnatural for humans. Visual, tactile, position or force feedbacks are used assisting the operator to see, sense and control the manipulation process. Without any of these feedbacks it is very difficult to work into the unknown micro/nano world. It is possible to create virtual working environment using the impedance parameters spring, damping and inertia to follow its dynamics. To improve operator's skills for handling the micro/nano operations, an impedance scaling approach is used herein. The development of a telemanipulation approach for mechatronic handling devices employed for micro/nano operations with three degrees of freedom (DoF) is presented. A virtual environment is created and sensed accounting for spring and damping virtual force effects. The effectiveness of the teleoperation control is experimentally investigated on a 3 DoF robot for scanning operation and a mechatronic handling device for biological investigations, using an inverted microscope and digital cameras.