Abstract: 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.

Key words: micromanipulation, virtual reality, vision feedback