Autonomous Microrobotic Manipulation Using Visual Servo Control

Autonomous Microrobotic Manipulation Using Visual Servo Control

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 utiliz...

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Bibliographic Details
Main Authors: Matthew Feemster, Jenelle A. Piepmeier, Harrison Biggs, Steven Yee, Hatem ElBidweihy, Samara L. Firebaugh
Format: Article
Language:English
Published: MDPI AG 2020-01-01
Series:Micromachines
Subjects:
autonomous robots
micromanipulators
mobile robots
robot control
microassembly
Online Access:https://www.mdpi.com/2072-666X/11/2/132
Description
Summary: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.
ISSN:2072-666X

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