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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| Format: | Article |
| Language: | English |
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MDPI AG
2020-01-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/11/2/132 |
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doaj-739217ac116f42af86a861822166da9a2020-11-25T02:19:45ZengMDPI AGMicromachines2072-666X2020-01-0111213210.3390/mi11020132mi11020132Autonomous Microrobotic Manipulation Using Visual Servo ControlMatthew Feemster0Jenelle A. Piepmeier1Harrison Biggs2Steven Yee3Hatem ElBidweihy4Samara L. Firebaugh5Weapons, Robotics, and Control Engineering Department, United States Naval Academy, Annapolis, MD 21402, USAWeapons, Robotics, and Control Engineering Department, United States Naval Academy, Annapolis, MD 21402, USAElectrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USAElectrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USAElectrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USAElectrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USAThis 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.https://www.mdpi.com/2072-666X/11/2/132autonomous robotsmicromanipulatorsmobile robotsrobot controlmicroassembly |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Matthew Feemster Jenelle A. Piepmeier Harrison Biggs Steven Yee Hatem ElBidweihy Samara L. Firebaugh |
| spellingShingle |
Matthew Feemster Jenelle A. Piepmeier Harrison Biggs Steven Yee Hatem ElBidweihy Samara L. Firebaugh Autonomous Microrobotic Manipulation Using Visual Servo Control Micromachines autonomous robots micromanipulators mobile robots robot control microassembly |
| author_facet |
Matthew Feemster Jenelle A. Piepmeier Harrison Biggs Steven Yee Hatem ElBidweihy Samara L. Firebaugh |
| author_sort |
Matthew Feemster |
| title |
Autonomous Microrobotic Manipulation Using Visual Servo Control |
| title_short |
Autonomous Microrobotic Manipulation Using Visual Servo Control |
| title_full |
Autonomous Microrobotic Manipulation Using Visual Servo Control |
| title_fullStr |
Autonomous Microrobotic Manipulation Using Visual Servo Control |
| title_full_unstemmed |
Autonomous Microrobotic Manipulation Using Visual Servo Control |
| title_sort |
autonomous microrobotic manipulation using visual servo control |
| publisher |
MDPI AG |
| series |
Micromachines |
| issn |
2072-666X |
| publishDate |
2020-01-01 |
| description |
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. |
| topic |
autonomous robots micromanipulators mobile robots robot control microassembly |
| url |
https://www.mdpi.com/2072-666X/11/2/132 |
| work_keys_str_mv |
AT matthewfeemster autonomousmicroroboticmanipulationusingvisualservocontrol AT jenelleapiepmeier autonomousmicroroboticmanipulationusingvisualservocontrol AT harrisonbiggs autonomousmicroroboticmanipulationusingvisualservocontrol AT stevenyee autonomousmicroroboticmanipulationusingvisualservocontrol AT hatemelbidweihy autonomousmicroroboticmanipulationusingvisualservocontrol AT samaralfirebaugh autonomousmicroroboticmanipulationusingvisualservocontrol |
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