Evaluation of a Haptic Macro-Micro Tele-Manipulation System
نویسندگان
چکیده
In this paper the evaluation of a novel haptic macro-micro telemanipulation system is presented. The system includes an interface between a haptic mechanism and a mobile microrobotic platform driven by two centripetal force actuators. The unique characteristics and challenges that arise during the haptic micromanipulation using the specific microrobotic platform are described. The tele-manipulation control environment is also presented. The entire system is evaluated through the execution of simulations and manipulation experiments. The results demonstrate that despite the complicated interaction between the haptic mechanism and the mobile microrobotic platform, the successfully accomplished micromanipulation task appears to the operator as a simple and intuitive manipulation operation.
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