A Task-oriented Teleoperation System for Assembly in the Microworld
نویسندگان
چکیده
Operating a robot in the micro/nano-world presents challenges not found in the macro-world. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. To allow a good manipulability, we propose a mixed teleoperation system which is composed of both direct and taskoriented teleoperation modes. The operator is provided with a set of visualization and manipulation tools on a workstation. This paper presents the micro-robot system, discusses some important isues in micro-teleoperation and finally presents some micro-manipulation tasks performed
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