MODELING OF MICROMANIPULATION ROBOT IN VIRTUAL ENVIRONMENT

摘要

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.