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Autonomous Microrobotic Manipulation Using Visual Servo Control
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DOI：10.3390/mi11020132.png)
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摘要
En 中文
This describes the application of a visual servo control method to the microrobotic manipulation of polymer beads on a two-dimensional fluid interface. A microrobot, actuated through magnetic fields, is utilized to manipulate a non-magnetic polymer bead into a desired position. The controller utilizes multiple modes of robot actuation to address the different stages of the task. A filtering strategy employed in separation mode allows the robot to spiral from the manipuland in a fashion that promotes the manipulation positioning objective. Experiments demonstrate that our multiphase controller can be used to direct a microrobot to position a manipuland to within an average positional error of approximately 8 pixels (64 mu m) over numerous trials.
Keyword:
autonomous robots
micromanipulators
mobile robots
robot control
microassembly
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期刊
IF:
3
论文数:
1.4W
被引数:
2.9W
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