Design framework of teleoperating system for magnetically levitated robot with force-feedback

Precise works and manipulating micro objects are tough jobs for operators both mentally and physically. To execute these jobs smoothly without feeling wrongness, use of master-slave system is preferable because position and force are able to be scaled up and down as well under the system. In this study we develop a master-slave system where the size of a slave robot is very small and the slave robot is levitated by magnetic forces. In distinction from ordinary master-slave systems, the levitated robot does not get any other contact forces from outside. Thus we introduce a method using an impedance model for constructing the master-slave system. We confirmed the effectiveness of the positioning control algorithm through experiments.