Development and visual servo control of an electromagnetic actuated micromanipulation system

Xiao Xiao, Yangmin Li, Hui Tang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages326-331
Number of pages6
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - 23 Mar 2018
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 5 Dec 20178 Dec 2017

Publication series

Name2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume2018-January

Conference

Conference2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/TerritoryChina
CityMacau
Period5/12/178/12/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

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