面向亚毫米级微粒的遥操作系统设计

SYSTEM DESIGN OF MICRO-OPERATION SUB-MILLIMETER OBJECT BASED ON TELEOPERATION

摘要: 本文介绍了适用于微靶装配的遥操作机器人系统及其关键技术，包括对亚毫米级微粒物体进行微操作的真空吸附装置的工作原理、构成和控制；适合于微靶装配要求的高精度机械手的运动控制；以及基于网络的遥操作技术等．

Abstract: This paper presents micro-operation system for sub-millimeter micro-object based on teleoperation. The principles and implementation of the vacuum micro-tool, the structure and control of the vacuum system, the motion control of high precise manipulator for micro-operation tasks, and the teleoperation input device, are discussed in detail.