Back to Search
Start Over
Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots.
- Source :
-
Robotics and biomimetics [Robotics Biomim] 2017; Vol. 4 (1), pp. 7. Date of Electronic Publication: 2017 Oct 30. - Publication Year :
- 2017
-
Abstract
- Accurate control and precise positioning of opto-thermocapillary flow-addressed bubble microrobots are necessary for micromanipulation. In addition, micromanipulation using the simultaneous actuation of multiple microrobots requires a robust control system to enable independent motion. This paper demonstrates a hybrid closed-loop vision-assisted control system capable of actuating multiple microrobots simultaneously and positioning them at precise locations relative to micro-objects under manipulation. A vision-assisted grasp-planning application was developed and used to calculate the necessary trajectories of the microrobots to form cages around micro-objects. The location of the microrobots and the micro-objects was detected at the caging locations using a particle-tracking application that used image feedback for precise positioning. The closed-loop image feedback information enabled the position update of the microrobots, allowing them to precisely follow the trajectory and caging locations calculated by the grasp-planning application. Four microrobots were assigned to cage a star-shaped micro-object using the closed-loop control system. Once caged, the micro-object was transported to a location within the workspace and uncaged, demonstrating the micromanipulation task. This microrobotic system is well suited for the micromanipulation of single cells.
Details
- Language :
- English
- ISSN :
- 2197-3768
- Volume :
- 4
- Issue :
- 1
- Database :
- MEDLINE
- Journal :
- Robotics and biomimetics
- Publication Type :
- Academic Journal
- Accession number :
- 29152448
- Full Text :
- https://doi.org/10.1186/s40638-017-0064-4