Design and Development of a Fused Vision Force Controller for Nanofiber Grasping and Manipulation

2007 ◽  
Author(s):  
Reza Saeidpourazar ◽  
Nader Jalili
Keyword(s):  
Inverse Kinematics ◽  
Force Feedback ◽  
Atomic Scale ◽  
Design And Development ◽  
Robust Controller ◽  
Grasping And Manipulation ◽  
Performance Capability ◽  
Fabric Production ◽  
Perturbation Estimation ◽  
Vision Feedback

This paper presents the design and development of a fused vision force feedback robust controller for a nanomanipulator used in nanofiber grasping and nano-fabric production applications. The RRP (Revolute Revolute Prismatic) manipulator considered here utilizes two rotational motors with 0.1 μrad resolution and one linear Nanomotor® with 0.25 nm resolution. Weighing just about 30g and having short lever arms (<5cm), the manipulator is capable of achieving well-behaved kinematic characteristics without the backlash in addition to atomic scale precision to guarantee accurate manipulation at the nanoscale. A mathematical model of the nanomanipulator is formulated and both direct and inverse kinematics of the system as well as dynamic equations are presented. A fused force vision feedback based modified optimal robust controller with perturbation estimation for nanomanipulator positioning is then derived and analyzed extensively. Unlike typical macroscale manipulator models and controllers, the controller development is not trivial here due to nanoscale movement and forces, coupled with unmodeled dynamics, nonlinear structural dynamics and mainly lack of position and velocity feedback in this nanomanipulator. Following the development of the fused force vision robust controller, numerical simulations of the proposed controller are preformed to demonstrate the positioning performance capability in nanofiber grasping applications.

Modeling and Observer-Based Robust Tracking Control of a Nano/Micro-Manipulator for Nanofiber Grasping Applications

2006 ◽  
Author(s):  
Reza Saeidpourazar ◽  
Nader Jalili
Keyword(s):  
Tracking Control ◽  
Inverse Kinematics ◽  
Atomic Scale ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Modeling And Control ◽  
Micro Manipulator ◽  
Nano Fiber ◽  
Fabric Production ◽  
And Control

This paper presents the modeling and control of a nano/micro-manipulator for use in nano-fiber grasping and nano-fabric production. The RRP (Revolute-Revolute-Prismatic) manipulator considered here utilizes two rotational motors with 10-7 rad resolution and one linear Nanomotor® with 0.25nm resolution. Weighing just 30g and having short lever arms (<5cm), the manipulator is capable of achieving well-behaved kinematic characteristics without backlash and with atomic scale precision to guarantee accurate manipulation at nanoscale. A mathematical model of the micromanipulator is formulated and both direct and inverse kinematics of the system as well as dynamic equations are presented. Several controllers for manipulator positioning tracking are derived and analyzed extensively. Unlike typical macroscale manipulator models and controllers, the controller development is not trivial due to nanoscale movement and forces, coupled with unmodeled dynamics and nonlinear structural dynamics. Following the development of the controllers, numerical simulations of the proposed controllers on the manipulator are used to verify the tracking performance.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

Design and Development of Two Concepts for a 4 DOF Portable Haptic Interface With Active and Passive Multi-Point Force Feedback for the Index Finger

2006 ◽  
Author(s):  
Mark J. Lelieveld ◽  
Takashi Maeno ◽  
Tetsuo Tomiyama
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Index Finger ◽  
Design Method ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
Linkage Mechanism ◽  
Design And Development ◽  
Constant Torque ◽  
Flexion And Extension

This research aims to develop a portable haptic master hand with 20 degrees of freedom (DOF). Master hands are used as haptic interfaces in master-slave systems. A master-slave system consists of a haptic interface that communicates with a virtual world or an end-effector for tele-operation, such as a robot hand. The thumb and fingers are usually modeled as a serial linkage mechanism with 4 DOF. So far, no 20 DOF master hands have been developed that can exert perpendicular forces on the finger phalanges during the complete flexion and extension motion. In this paper, the design and development of two concepts of a portable 4 DOF haptic interface for the index finger is presented. Concept A is a statically balanced haptic interface with a rolling-link mechanism (RLM) and an integrated constant torque spring per DOF for perpendicular and active force feedback. Concept B utilizes a mechanical tape brake at the RLM for passive force feedback. The systematic Pahl and Beitz design approach is used as an iterative design method.

scholarly journals Robust Controller for a Vision Feedback Based Telepointer

2016 ◽  
Vol 6 (6) ◽  
pp. 2870
Author(s):  
Shah Newaz Mohammad Abdul Kader ◽  
Mohd. Marzuki Mustafa ◽  
Aini Hussain
Keyword(s):  
External Disturbance ◽  
Fast Response ◽  
Computer Supported Cooperative Work ◽  
Proportional Integral Derivative ◽  
Laser Pointer ◽  
Actual System ◽  
Robust Controller ◽  
Proportional Integral Derivative Controller ◽  
Speed Of Response ◽  
Vision Feedback

<p><span>Telepointer is a very useful tool for teleconsultation and teleproctoring, whereby a telepointer via teleconferencing is a perfect example of computer-supported cooperative work (CSCW) and digital telepresence. To this end, many telepointers are introduced for digital telepresence. However, there are still concerns regarding the speed of response and robustness of the system. It is rather difficult to model the actual system in order to design the controller. This paper described the development of a telepointer and its controller for a real time communication using vision feedback. The main focus of this study was to control the Laser Pointer (LP) with a discrete time PID (proportional–integral–derivative) controller which was tuned using Ziegler-Nichols (ZN) method. The results indicated that the tuned controller bring about fast response with no overshoot and steady state errors at the output response. The controller was shown to be robust against changes in sampling time and external disturbance.</span></p>

Hybrid Target Tracking Manipulation Theories for Combined Force and Position Control in Open and Closed Loop Manipulators

2005 ◽  
Author(s):  
David J. Giblin ◽  
Zongliang Mu ◽  
ZhongXue Gan ◽  
Kazem Kazerounian
Keyword(s):  
Inverse Kinematics ◽  
Closed Loop ◽  
Force Feedback ◽  
Position Control ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Loop Control ◽  
Joint Torques ◽  
Position Data ◽  
Direct Kinematics

This paper presents a new manipulation theory for controlling compliant motions of a robotic manipulator. In previous closed loop control methods, both direct kinematics and inverse kinematics of a manipulator must be resolved to convert feedback force and position data from Cartesian space to joint space. However, in many cases, the solution of direct kinematics in a parallel manipulator or the solution of inverse kinematics in a serial manipulator is not easily available. In this study, the force and position data are packed into one set of “motion feedback,” by replacing the force errors with virtual motion quantities, or one set of “force feedback,” by replacing motion errors with virtual force quantities. The joint torques are adjusted based on this combined feed back package. Since only Jacobian of direct kinematics or Jacobian of inverse kinematics is used in the control scheme, the computational complexity is reduced significantly. The applications of this theory are demonstrated in simulation experiments with both serial and parallel manipulators.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Vol 2 (2) ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors that limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOFs) (three rotational DOFs and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved, which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7cm. This optimized workspace conservatively accounts for collision avoidance between the patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

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