Development of a single-master multi-slave tele-micromanipulation system

Abstract

This paper proposes the development of a human-robot cooperative tele-micromanipulation system through a network. We have developed a novel single-master (PHANToM haptic device) multi-slave (6-d.o.f. parallel manipulator) scaled tele-micromanipulation system which enables human operators to perform meso or small-size object manipulation such as assembly or manufacturing with sufficient telepresence. It is expected to improve the human's operability and the overall dexterity of conventional tele-micromanipulation systems. To overcome the problems of the multiple parallel mechanism manipulator, virtual kinematic mapping is considered, based on the manipulability analysis of the workspace. The pick-and-place experiment results prove the validity of the developed single-master multi-slave system.

Cooperative Control of a Single-User Multi-Robot Teleoperated System for Maintenance in Offshore Plants

“…bulky or heavy objects handling) through the cooperation between slave robots [3], [5]. In the above system, each robot has a single robotic manipulator mounted in an upper part of a single mobile platform, as well as various sensors, including a number of cameras [6]. The development goal of the SUMR teleoperation system is to improve work efficiency by performing particular tasks with multiple robots where a single robot would be either inefficient at or incapable of performing specific tasks [7], [8].…”

Multiscale Manipulations with Multiple Parallel Mechanism Manipulators

“…However, it was not implemented to the real time system for the practical systems different dynamics than the theory. These concepts of multiple robot configurations from macro scale can be the break through of conventional micro/nanomanipulation.In our research, we implement dexterous micromanipulation system based on the SMMS concept (Hwang et al, 2007). A single PHANToM haptic device as a master device and dual 6-d.o.f.…”

“…The kinematical manipulability in the dual-micromanipulator's workspace which is parallel to the xy plane can be referred from the reference (Hwang et al, 2007). The human operator is possibly able to avoid the singular position which is located around the position with zero manipulability.…”

VR Simulator For Nano SMMS Teleoperation over the Delayed Networks

“…The m-DOF master robot dynamics and ni DOF dyna mics of the i-th slave are considered as follows (4) Mi(qi)qi+Ci(qi,qi)q, = Ti +Fi …”

“…it will greatly benefits the furtherance of nano-scale assembly but the problem are the dexterity, limited D.O.F of the system and over delayed communication between a user action in the macro world and the real-time state update in the simulated virtual world, which causes unrealistic visualization, and thus simulation sickness [2]. One approach to deal with these problems is Bilateral Single Master Multiple Slave (SMMS) Teleoperation method [3,4].…”