{"title":"面向任务的微世界装配遥操作系统","authors":"A. Codourey, M. Rodriguez, I. Pappas","doi":"10.1109/ICAR.1997.620188","DOIUrl":null,"url":null,"abstract":"Operating a robot in the micro/nano-world presents challenges not found in the macro-world. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. To allow a good manipulability, we propose a mixed teleoperation system which is composed of both direct and task-oriented teleoperation modes. The operator is provided with a set of visualization and manipulation tools on a workstation. This paper presents the micro-robot system, discusses some important issues in micro-teleoperation and finally presents some micro-manipulation tasks performed with the system.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"42","resultStr":"{\"title\":\"A task-oriented teleoperation system for assembly in the microworld\",\"authors\":\"A. Codourey, M. Rodriguez, I. Pappas\",\"doi\":\"10.1109/ICAR.1997.620188\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Operating a robot in the micro/nano-world presents challenges not found in the macro-world. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. To allow a good manipulability, we propose a mixed teleoperation system which is composed of both direct and task-oriented teleoperation modes. The operator is provided with a set of visualization and manipulation tools on a workstation. This paper presents the micro-robot system, discusses some important issues in micro-teleoperation and finally presents some micro-manipulation tasks performed with the system.\",\"PeriodicalId\":228876,\"journal\":{\"name\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"volume\":\"35 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-07-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"42\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.1997.620188\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1997.620188","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A task-oriented teleoperation system for assembly in the microworld
Operating a robot in the micro/nano-world presents challenges not found in the macro-world. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. To allow a good manipulability, we propose a mixed teleoperation system which is composed of both direct and task-oriented teleoperation modes. The operator is provided with a set of visualization and manipulation tools on a workstation. This paper presents the micro-robot system, discusses some important issues in micro-teleoperation and finally presents some micro-manipulation tasks performed with the system.
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