ミクロ－マクロバイラテラル制御を用いたマイクロマニピュレータの試作と評価

抄録

Micro manipulation technologies have been studied for manipulating objects that human cannot operate directly. In the micro manipulation, the operator should be skilled because the only information from the environment is image and the human cannot feel force from the object. Therefore, force feedback is required in order to improve operationality and safety. In this study, we developed a prototype of micro manipulator with long end effector which can be moved in the narrow space such as under objective lens of microscopes. We adopted electrical motor and implemented micro-macro bilateral control which can transfer enlarged/reduced position and force between human operator and micro manipulator. We confirmed that the micro-macro bilateral control was achieved and the developed manipulator can grasp 1.6 mm diameter screw with human operation. We also showed that intuitive operation was difficult because nonlinear disturbance such as friction or cogging torque was estimated as external force even though the manipulator did not contact to any object. These disturbance was enlarged and presented to the operator.