摘要
Micromanipulation has been recognized to be very difficult due to the inefficiency oftraditional micromanipulation methods. The paper present a general framework formicromanipulation robot based on virtual reality technology. The significance of in-troducing virtual reality into micromanipulation is analyzed, and the current researchin this field is reviewed. Based on this, we propose a micromanipulation system thatintegrates virtual environment with vision feedback and force feedback. The systemrealizes vision close-loop control and force close-loop control to enhance the perfor-mance of micromanipulation device. A graphics modelling method is proposed for amicroassembly task. Hardware and software implementation is described and discus-sion about the research is presented.
Micromanipulation has been recognized to be very difficult due to the inefficiency oftraditional micromanipulation methods. The paper present a general framework formicromanipulation robot based on virtual reality technology. The significance of in-troducing virtual reality into micromanipulation is analyzed, and the current researchin this field is reviewed. Based on this, we propose a micromanipulation system thatintegrates virtual environment with vision feedback and force feedback. The systemrealizes vision close-loop control and force close-loop control to enhance the perfor-mance of micromanipulation device. A graphics modelling method is proposed for amicroassembly task. Hardware and software implementation is described and discus-sion about the research is presented.
基金
supported by the National High Technology Research and Development Program of China (No.2002AA40445O)
also supported by the National Defense Basic Scientific Research Foundation of China
