Abstract
Micromanipulators are widely used for experimental and industrial use to handle microscopic small objects. In this paper, at first, a micromanipulator with one degree of freedom is introduced. Using this basic system, the maneuverability of this micromanipulator is shown in terms of the robotic teleoperational methods. The bilateral teleoperation method such as impedance control gives good performance.
Next, a multiple degrees of freedom micromanipulator using PZT actuators is designed and tested. This manipulator have 6 D.O.F. and its tip moves along three axes and rotates along each axes. In addition, having position and force feedback control system, it controls desired position, pose and force at a tip. These technical merits will make it possible to operate this dexterous micromanipulator in much more complicated environments under a microscope.
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© 1992 Springer Science+Business Media Dordrecht
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Fukuda, T., Fujiyoshi, M., Arai, F. (1992). Design and Dexterous Control of Micromanipulator with Multiple Degrees of Freedom. In: Tzou, H.S., Fukuda, T. (eds) Precision Sensors, Actuators and Systems. Solid Mechanics and Its Applications, vol 17. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-1818-7_8
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DOI: https://doi.org/10.1007/978-94-011-1818-7_8
Publisher Name: Springer, Dordrecht
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