| 1 | MODELING OF MICROMANIPULATION ROBOT IN VIRTUAL ENVIRONMENT显示文摘Micromanipulation has been recognized to be very difficult due to the inefficiency of traditional micromanipulation methods.The paper present a general framework for micromanipulation robot based on virtual reality technology.The significance of introducing virtual reality into micromanipulation is analyzed,and the current research in this field is reviewed.Based on this,we propose a micromanipulation system that integrates virtual environment with vision feedback and force feedback.The system realizes vision close-loop control and force close-loop control to enhance the performance of micromanipulation device.A graphics modelling method is proposed for a microassembly task.Hardware and software implementation is described and discussion about the research is presented. | F.S.Tan L.N.Sun W.B.Rong J.Zhu Robotic Research Institute,Harbin Institute of Technology,Harbin 150001,China | 2004 | Acta Metallurgica Sinica(English Letters)2004，17，2： | 0 |
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