Uncalibrated Vision-Based Control for Optical Manipulation of Microscopic Particles

Uncalibrated Vision-Based Control for Optical Manipulation of Microscopic Particles
Title:
Uncalibrated Vision-Based Control for Optical Manipulation of Microscopic Particles
Other Titles:
Proceedings of The 3rd IFTOMM International Synposium on Robotics and Mechatronics
Keywords:
Publication Date:
02 October 2013
Citation:
Abstract:
Vision is a useful information for manipulation tasks since it provides a large spectrum of details about the environment. The visual feedback information can be used to guarantee the manipulation accuracy and improve robustness to uncertainty. In this paper, a vision-based adaptive control method is proposed for micromanipulation using optical tweezers. A general model of robotic manipulator is introduced in the optical tweezers system so that the movement of the laser beam is controlled by vision-based closed-loop robotic manipulation techniques. A new adaptive Jacobian controller is proposed for the regulation problem in presence of camera calibration errors. The stability of the closed-loop system is analyzed with consideration of the dynamics of both the particle and the robotic manipulator. Simulations are presented to illustrate the performance of the proposed method.
License type:
PublisherCopyrights
Funding Info:
Agency For Science, Technology And Research of Singapore (A*STAR), (Reference No. 1121202014)
Description:
ISBN:

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