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Proceedings Paper

Framework for teleoperated microassembly systems
Author(s): Gunther Reinhart; Oliver Anton; Michael Ehrenstrasser; Christian Patron; Bernd Petzold
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Paper Abstract

Manual assembly of minute parts is currently done using simple devices such as tweezers or magnifying glasses. The operator therefore requires a great deal of concentration for successful assembly. Teleoperated micro-assembly systems are a promising method for overcoming the scaling barrier. However, most of today's telepresence systems are based on proprietary and one-of-a-kind solutions. Frameworks which supply the basic functions of a telepresence system, e.g. to establish flexible communication links that depend on bandwidth requirements or to synchronize distributed components, are not currently available. Large amounts of time and money have to be invested in order to create task-specific teleoperated micro-assembly systems from scratch. For this reason, an object-oriented framework for telepresence systems that is based on CORBA as a common middleware was developed at the Institute for Machine Tools and Industrial Management (iwb). The framework is based on a distributed architectural concept and is realized in C++. External hardware components such as haptic, video or sensor devices are coupled to the system by means of defined software interfaces. In this case, the special requirements of teleoperation systems have to be considered, e.g. dynamic parameter settings for sensors during operation. Consequently, an architectural concept based on logical sensors has been developed to achieve maximum flexibility and to enable a task-oriented integration of hardware components.

Paper Details

Date Published: 5 February 2002
PDF: 11 pages
Proc. SPIE 4570, Telemanipulator and Telepresence Technologies VIII, (5 February 2002); doi: 10.1117/12.454733
Show Author Affiliations
Gunther Reinhart, Technische Univ. Muenchen (Germany)
Oliver Anton, Technische Univ. Muenchen (Germany)
Michael Ehrenstrasser, Technische Univ. Muenchen (Germany)
Christian Patron, Technische Univ. Muenchen (Germany)
Bernd Petzold, Technische Univ. Muenchen (Germany)

Published in SPIE Proceedings Vol. 4570:
Telemanipulator and Telepresence Technologies VIII
Matthew R. Stein, Editor(s)

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