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Research on Robotic Macro/Micro Manipulator System Based on Force Feedback

Liu Jinsong;Sun Lining;Cheng Shukang;Cai Hegao(Harbin Imtitute of Technology)  
The peper presents a macro/micro manipulator system that consists of a novel 2 DOF planar micro manipulator (FPMW) with force sensor and traditional robot PUMA 562.This macro/micro manipu lator system not only remains the advantages of PUMA robot,such as large motion field and high speed, but also develops the micro mani pulator's high accuracy and high response. FPMW's motion accuracy is 0. 48μm,response frequency is 1600Hz.Controlled by the computer, the system accomplishes the peg-in-hole assembly successfully.
【Fund】: “863”高技术计划智能机器人主题(863-512)资助
【CateGory Index】: TP242
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