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Proceedings Paper

Field experiences on the implementation of a graphical user interface in microrobotics
Author(s): Miguel Angel Rodriguez; Alain Codourey; Ion Pappas
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Paper Abstract

Handling objects in the microworld requires a set of abilities and tools which differ from the ones used to interact with objects in the macro world. A whole new set of handling limitations is present, as well as an array of new possibilities. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. Therefore a user interface to interact with the micro world must be specifically designed. Thus, this paper presents the implementation of a graphical user interface for a high precision robot operating on the micro world developed at the Swiss Federal Institute of Technology. In this interface the operator is provided with a set of visualization and manipulation tools on a workstation. The visualization tools are: live microscope video images with top and side view, and a 3D virtual solid model of the robot with perspective as well as orthogonal views available at the same time. The manipulation tools are: a control panel used to check the status and to operate both the camera and the robot itself and an interface wit ha 6 degree of freedom joystick-like manipulator. Several combinations of visualization and manipulation tools have been tested, as well as several manipulation strategies. The user interface and the results of this investigation are presented in this paper, as well as a description of the robot system.

Paper Details

Date Published: 11 December 1996
PDF: 6 pages
Proc. SPIE 2906, Microrobotics: Components and Applications, (11 December 1996); doi: 10.1117/12.260623
Show Author Affiliations
Miguel Angel Rodriguez, Swiss Federal Institute of Technology Zurich (Switzerland)
Alain Codourey, Swiss Federal Institute of Technology Zurich (Switzerland)
Ion Pappas, Swiss Federal Institute of Technology Zurich (Switzerland)

Published in SPIE Proceedings Vol. 2906:
Microrobotics: Components and Applications
Armin Sulzmann, Editor(s)

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