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Proceedings Paper

Design framework of a teleoperating system for a magnetically levitated robot with force feedback
Author(s): Naoaki Tsuda; Norihiko Kato; Yoshihiko Nomura; Hirokazu Matsui
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Paper Abstract

Precise works and manipulating micro objects are tough jobs for operators both mentally and physically. To execute these jobs smoothly without feeling wrongness, use of master-slave system is preferable because position and force are able to be scaled up and down as well under the system. In this study we develop a master-slave system where the size of a slave robot is very small and the slave robot is levitated by magnetic forces. In distinction from ordinary master- slave systems, the levitated robot does not get any other contact forces from outside. Thus we introduce a method using an impedance model for constructing the master-slave system. We confirmed the effectiveness of the positioning control algorithm through experiments.

Paper Details

Date Published: 5 February 2002
PDF: 9 pages
Proc. SPIE 4570, Telemanipulator and Telepresence Technologies VIII, (5 February 2002); doi: 10.1117/12.454742
Show Author Affiliations
Naoaki Tsuda, Mie Univ. (Japan)
Norihiko Kato, Mie Univ. (Japan)
Yoshihiko Nomura, Mie Univ. (Japan)
Hirokazu Matsui, Mie Univ. (Japan)

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

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