TY - GEN
T1 - Development and visual servo control of an electromagnetic actuated micromanipulation system
AU - Xiao, Xiao
AU - Li, Yangmin
AU - Tang, Hui
PY - 2018/3/23
Y1 - 2018/3/23
N2 - An electromagnetic actuated micromanipulation system is proposed in this paper. To perform micromanipulation tasks, a three translational degrees of freedom (DOF) micro-manipulator and a translational 2-DOF micropositioner are designed. Structures of the micromanipulator and micropositioner are illustrated and their decoupling performances are verified by finite element analysis. To construct a visual servo control architecture, image processing based on template matching algorithm is developed. At the same time, sub-pixel image processing method is introduced to improve the positioning accuracy. Preliminary experiments are carried out to evaluate the stroke of the micromanipulator and micropositioner. Closed-loop experiments based on PID controller are conducted, and automatic picking up and placing down of a glass micro-sphere is successfully performed. The performances and feasibility in precision micromanipulation applications of the developed system are well verified and demonstrated.
AB - An electromagnetic actuated micromanipulation system is proposed in this paper. To perform micromanipulation tasks, a three translational degrees of freedom (DOF) micro-manipulator and a translational 2-DOF micropositioner are designed. Structures of the micromanipulator and micropositioner are illustrated and their decoupling performances are verified by finite element analysis. To construct a visual servo control architecture, image processing based on template matching algorithm is developed. At the same time, sub-pixel image processing method is introduced to improve the positioning accuracy. Preliminary experiments are carried out to evaluate the stroke of the micromanipulator and micropositioner. Closed-loop experiments based on PID controller are conducted, and automatic picking up and placing down of a glass micro-sphere is successfully performed. The performances and feasibility in precision micromanipulation applications of the developed system are well verified and demonstrated.
UR - http://www.scopus.com/inward/record.url?scp=85049902173&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324438
DO - 10.1109/ROBIO.2017.8324438
M3 - Conference article published in proceeding or book
AN - SCOPUS:85049902173
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 326
EP - 331
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -