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Autonomous Microrobotic Manipulation Using Visual Servo Control.

ABSTRACT: 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 µm) over numerous trials.

SUBMITTER: Feemster M

PROVIDER: S-EPMC7074596 | biostudies-literature | 2020 Jan

REPOSITORIES: biostudies-literature

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Autonomous Microrobotic Manipulation Using Visual Servo Control.

Feemster Matthew M Piepmeier Jenelle A JA Biggs Harrison H Yee Steven S ElBidweihy Hatem H Firebaugh And Samara L ASL

Micromachines 20200124 2

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 prom ...[more]

PMID: 31991607

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