Development of an AFM-Based Nanomanipulation System and Stable Haptic Interaction using Modified Energy-Bounding Algorithm

Title
Development of an AFM-Based Nanomanipulation System and Stable Haptic Interaction using Modified Energy-Bounding Algorithm
Authors
임요안이창규김종필류제하
Keywords
AFM-based scaled teleoperation; haptics, energy-bounding algorithm
Issue Date
2009-08
Publisher
ICROS-SICE International Joint Conference 2009
Abstract
This paper addresses the development of an AFM (Atomic Force Microscope)-based scaled teleoperation system and its preliminary experimental results of bilateral scaled teleoperation using the modified EBA (Energy-Bounding Algorithm). An interface that connects a commercial AFM and a custom-built haptic interface, and a GUI controlling the overall system are developed. For stable scaled teleoperation, the EBA, a passivity-based haptic stability control algorithm, is modified to include the force and position scaling factors, and applied to the scaled teleoperation. Preliminary experiments show that stable haptic interaction on a sample material can be achieved using the developed system and the modified EBA.
URI
http://pubs.kist.re.kr/handle/201004/36224
Appears in Collections:
KIST Publication > Conference Paper
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