Virtual Reality and SEM-based Master-Slave Nanomanipulation Platform
In this paper, an interactive nano manipulation method based on virtual reality technology is presented. The SEM-based interactive manipulation platform with virtual force and visual feedback information is established. The 3D virtual nanowire manipulation model is developed to make up the insufficiency of the 2D SEM image information, which provides the operator with depth and real time visual feedback information to guide the manipulation. The haptic device Omega3 is used as the master to control the 3D motion of the nanopositioner in master-slave mode and offer the force sensing to the operator. The operator could adjust the manipulation according to the virtual force and visual feedback information provided by the platform, which made the nanomanipulation more flexible. Aiming at sensing of force feedback during the nanomanipulation, the collision detection method of the virtual nanomanipulation model and the force rending model are studied to realize the force feedback of nanomanipulation. Finally, the performance of the platform is validated by the ZnO nanowire manipulation experiments. The results show that the platform performed well during the manipulation while guaranteeing the real time.
Dongjie Li Weibin Rong Lining Sun Yu Zou Hui Xie Wanzhe Xiao
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China I State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China Institute of Electromechanical Control and Automation Technology, Harbin University of Science and T
国际会议
长春
英文
1-5
2011-08-29（万方平台首次上网日期，不代表论文的发表时间）